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...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/12/9/351 |
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| author | Mehrdad R. Kermani Sergey Pisetskiy Ilia Polushin Zi-Qi Yang |
| author_facet | Mehrdad R. Kermani Sergey Pisetskiy Ilia Polushin Zi-Qi Yang |
| author_sort | Mehrdad R. Kermani |
| collection | DOAJ |
| description | 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 actuators, which limits the output torques delivered to the load, independent of the received input torque and/or control commands. This inherent property is of significant importance for ensuring human safety in human–robot interaction applications. Through a comprehensive analysis, we provide analytical proof of the inherent output boundedness of antagonistic MR actuators and validate our findings through experimental results. Our research demonstrates that these actuators are well-suited for safe operations in robotic applications, eliminating the need for additional sensor measurements or complex control strategies. This promising capability enables the avoidance of trade-offs between actuator performance, complexity, and cost. The insights gained from this study contribute to advancing compliant actuation technology, paving the way for high-performance and human-safe robotic systems. |
| first_indexed | 2024-03-10T23:09:40Z |
| format | Article |
| id | doaj.art-9c5c0c2b3e7e405fa8f3ba11753a370f |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T23:09:40Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-9c5c0c2b3e7e405fa8f3ba11753a370f2023-11-19T09:03:30ZengMDPI AGActuators2076-08252023-08-0112935110.3390/act12090351Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe ActuationMehrdad R. Kermani0Sergey Pisetskiy1Ilia Polushin2Zi-Qi Yang3Department of Electrical and Computer Engineering, Western University, London, ON N6A 5B9, CanadaDepartment of Electrical and Computer Engineering, Western University, London, ON N6A 5B9, CanadaDepartment of Electrical and Computer Engineering, Western University, London, ON N6A 5B9, CanadaDepartment of Electrical and Computer Engineering, Western University, London, ON N6A 5B9, CanadaThis 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 actuators, which limits the output torques delivered to the load, independent of the received input torque and/or control commands. This inherent property is of significant importance for ensuring human safety in human–robot interaction applications. Through a comprehensive analysis, we provide analytical proof of the inherent output boundedness of antagonistic MR actuators and validate our findings through experimental results. Our research demonstrates that these actuators are well-suited for safe operations in robotic applications, eliminating the need for additional sensor measurements or complex control strategies. This promising capability enables the avoidance of trade-offs between actuator performance, complexity, and cost. The insights gained from this study contribute to advancing compliant actuation technology, paving the way for high-performance and human-safe robotic systems.https://www.mdpi.com/2076-0825/12/9/351magnetorheological clutchantagonistic actuatorcompliant actuationinput-to-state stabilitybackdrivableoutput boundedness |
| spellingShingle | Mehrdad R. Kermani Sergey Pisetskiy Ilia Polushin Zi-Qi Yang Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation Actuators magnetorheological clutch antagonistic actuator compliant actuation input-to-state stability backdrivable output boundedness |
| title | Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation |
| title_full | Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation |
| title_fullStr | Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation |
| title_full_unstemmed | Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation |
| title_short | Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation |
| title_sort | antagonistic magneto rheological actuators with inherent output boundedness an ideal solution for high performance and human safe actuation |
| topic | magnetorheological clutch antagonistic actuator compliant actuation input-to-state stability backdrivable output boundedness |
| url | https://www.mdpi.com/2076-0825/12/9/351 |
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