Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation

Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation

This paper studies the working principles of antagonistic magneto-rheological (MR) actuators, i.e., a combination of an electric motor and a pair of MR clutches in an antagonistic configuration, for compliant actuation in robotics. The study focuses on the unique boundedness property exhibited by MR...

Full description

Bibliographic Details
Main Authors: Mehrdad R. Kermani, Sergey Pisetskiy, Ilia Polushin, Zi-Qi Yang
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Actuators
Subjects:
magnetorheological clutch
antagonistic actuator
compliant actuation
input-to-state stability
backdrivable
output boundedness
Online Access:https://www.mdpi.com/2076-0825/12/9/351

Internet

https://www.mdpi.com/2076-0825/12/9/351

Similar Items