Controlling frictional forces between surfaces of substrates in e.g. exploratory robot, by grafting charged polyelectrolyte molecules on one of surfaces, dipping the molecules in solvent, and applying electric field between substrates

摘要

The method comprises grafting charged polyelectrolyte molecules (5) on one of surfaces (3, 4), dipping the charged polyelectrolyte molecules in a solvent, and applying an external alternating electric field between substrates (1, 2). The charged polyelectrolyte molecules are grafted by physical grafting optionally via polymer anchoring, and by covalent bond. The solvent is air or water. The molecules of poly (acrylic acid) are grafted via polystyrene in one of the surfaces. An independent claim is included for a device for controlling frictional forces between surfaces which are in frictional contact with each other, of substrates.