US Patent 11054905 Motion-restricting apparatus with common base electrode

Examples are disclosed that relate to electrostatic clutching mechanisms that may be used for tactile feedback. One example provides a motion-restricting apparatus comprising a wearable base, and an electrostatic clutching mechanism coupled to the base, the electrostatic clutching mechanism comprising a base electrode, a plurality of individually-controllable opposing electrodes arranged at different locations across the base electrode and overlapping the base electrode, and one or more electrically insulating structures configured to electrically insulate the base electrode from the plurality of opposing electrodes. The motion-restricting apparatus further comprises a controller electrically coupled to the base electrode and to each of the opposing electrodes and configured to individually control a voltage applied to each opposing electrode relative to a voltage of the base electrode to control an electrostatic force between the base electrode and each opposing electrode.