An electroadhesive clutch device can include a first electrode assembly comprising a first conductive portion that is at least partially covered by a first dielectric insulator, a second electrode assembly comprising a second conductive portion that is at least partially covered by a second dielectric insulator, and an electrical signal generator configured to provide first and second signals to the first and second conductive portions of the electrode assemblies, respectively. The first and second electrode assemblies can be at least partially overlapping and configured to slide relative to each other at respective surfaces that comprise the first and second dielectric insulators.