Increasing variable stiffness actuator-response using an electromagnetic spring

Han Ping Yang; Chau Shin Jang; Herman Van Der Kooij

doi:10.1109/ICARM.2019.8834303

Increasing variable stiffness actuator-response using an electromagnetic spring

Han Ping Yang^*, Chau Shin Jang, Herman Van Der Kooij

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

Abstract

An electromagnetic spring-based variable stiffness actuator is a new concept with the potential to change stiffness faster than mechanical springs can; however, its nonlinear elastic property is a challenge in actuator design. In this paper, the torque response of a custom-made electromagnetic spring was studied using a ramping force test and electromagnetic simulation. A two-zone linear region, from 0° to 2° and 2° to 6.5°, was observed and explained through magnetic flux simulation to provide insight into the fundamentals of the electromagnetic spring. An unusual impedance response was also noted from this regional linearity, appeared on a step gain in Bode plot of end-point impedance in a dynamic test.

Original language	English
Title of host publication	2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Publisher	IEEE
Pages	7-11
Number of pages	5
ISBN (Electronic)	9781728100647
DOIs	https://doi.org/10.1109/ICARM.2019.8834303
Publication status	Published - Jul 2019
Event	4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan Duration: 3 Jul 2019 → 5 Jul 2019 Conference number: 4

Conference

Conference	4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Abbreviated title	ICARM 2019
Country/Territory	Japan
City	Osaka
Period	3/07/19 → 5/07/19

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10.1109/ICARM.2019.8834303

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@inproceedings{4ba2f4d599654bc1b314b1d9c7eced14,

title = "Increasing variable stiffness actuator-response using an electromagnetic spring",

abstract = "An electromagnetic spring-based variable stiffness actuator is a new concept with the potential to change stiffness faster than mechanical springs can; however, its nonlinear elastic property is a challenge in actuator design. In this paper, the torque response of a custom-made electromagnetic spring was studied using a ramping force test and electromagnetic simulation. A two-zone linear region, from 0° to 2° and 2° to 6.5°, was observed and explained through magnetic flux simulation to provide insight into the fundamentals of the electromagnetic spring. An unusual impedance response was also noted from this regional linearity, appeared on a step gain in Bode plot of end-point impedance in a dynamic test.",

author = "Yang, {Han Ping} and Jang, {Chau Shin} and {Van Der Kooij}, Herman",

note = "Funding Information: This research work was supported by the Ministry of Economic Affairs, R.O.C. (Taiwan) as a part of the research program for Interactive Rehabilitation Technology of Exoskeleton Robot from 2013 to 2016. Authors would like to express our appreciation to motor team in ITRI for prototype preparation and experiment setup, including Jih-Yang Chang, Hsin-Tien Yeh and Tsu-Min Liu. This work also gets help from Dr. Shang-Hsun Mao (Taiwan ANSYS Tech. Co.) for simulation consulting, and Jessica Norris and Edward Moon (Wallace Academic Editing) for English style review. The authors gratefully acknowledge all their assistance and contribution to this paper. Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, ICARM 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

year = "2019",

month = jul,

doi = "10.1109/ICARM.2019.8834303",

language = "English",

pages = "7--11",

booktitle = "2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019",

publisher = "IEEE",

}

Yang, HP, Jang, CS & Van Der Kooij, H 2019, Increasing variable stiffness actuator-response using an electromagnetic spring. in 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019., 8834303, IEEE, pp. 7-11, 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Osaka, Japan, 3/07/19. https://doi.org/10.1109/ICARM.2019.8834303

Increasing variable stiffness actuator-response using an electromagnetic spring. / Yang, Han Ping; Jang, Chau Shin; Van Der Kooij, Herman.

2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. IEEE, 2019. p. 7-11 8834303.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - An electromagnetic spring-based variable stiffness actuator is a new concept with the potential to change stiffness faster than mechanical springs can; however, its nonlinear elastic property is a challenge in actuator design. In this paper, the torque response of a custom-made electromagnetic spring was studied using a ramping force test and electromagnetic simulation. A two-zone linear region, from 0° to 2° and 2° to 6.5°, was observed and explained through magnetic flux simulation to provide insight into the fundamentals of the electromagnetic spring. An unusual impedance response was also noted from this regional linearity, appeared on a step gain in Bode plot of end-point impedance in a dynamic test.

AB - An electromagnetic spring-based variable stiffness actuator is a new concept with the potential to change stiffness faster than mechanical springs can; however, its nonlinear elastic property is a challenge in actuator design. In this paper, the torque response of a custom-made electromagnetic spring was studied using a ramping force test and electromagnetic simulation. A two-zone linear region, from 0° to 2° and 2° to 6.5°, was observed and explained through magnetic flux simulation to provide insight into the fundamentals of the electromagnetic spring. An unusual impedance response was also noted from this regional linearity, appeared on a step gain in Bode plot of end-point impedance in a dynamic test.

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Increasing variable stiffness actuator-response using an electromagnetic spring

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