rob
褫 centers on taking something away by force or stealth: robbing or stripping someone of possessions.
褫 combines 衤 (clothing) with 虒, which likely contributes the sound and may relate to stripping or removing. The exact historical development is uncertain.
The clothing radical 衤 beside 虒 suggests someone pulling clothes away: robbing a person of their garments.
For チ, imagine a thief snatching a piece of cheese: cheese -> チ, and the robber strips away the clothing.