Electrostatic motors are presented special advantages compare to electromagnetic motors such as light-weight, compactness and simple to fabricating. Due to these capabilities, recently, many researchers are working on electrostatic motors to make them applicable in industries. Accordingly, in this paper a new design idea for these motors is investigated theoretically and experimentally. This motor has driving electrodes on both rotor and stator, however, no wire is attached to rotor and signals are transferred to rotor using the induction electrodes. Modeling is implemented to study the effective parameters on performance. Then, using the modeling results, the design parameters are optimized using numerical method to improve the torque and minimize the ripple. Optimization findings are identified an optimum value for ratio of width to gap for driving electrodes and an optimum value for ratio of induction electrodes surface to total surface. Finally, the motor performance is evaluated using experimental setup and several experiments.