Electroadhesive devices can lift materials of different shapes and various types using the electrostatic force developed at the interface between the device and the object. More specifically, the electrical potential generated by the device induces opposite charges on the object to give electrostatic Maxwell force. Although this technology has a great deal of potential, the key design factors based on the fundamental principles of interfacial polarization have yet to be clearly identified. In this study, we identify that the lifting force is quantitatively related to the total length of the boundary edges of the electrodes, where the induced charges are selectively concentrated. We subsequently propose a model equation that can predict the electrostatic lifting forces for different object materials as a function of the applied voltage, impedance, and electrode-boundary length. The model is based on the fact that the amount of induced charges should be concentrated where the equipotential field distance is minimal. We report that the impedance magnitude is correlated with the electroadhesive lifting forces by analyzing the impedance characteristics of objects made of different materials (e.g., paper, glass, or metal), as attached in situ to the electroadhesive device.