MagFlex: An Electromagnetic Soft Actuator for Safe Human-Robot Interaction
Public DepositedSoft actuators have garnered substantial interest in robotics, promising safer and more adaptable human-robot interaction. This thesis presents the development and evaluation of a novel electromagnetic soft actuator, named “MagFlex” designed to address critical challenges associated with existing soft actuators. MagFlex demonstrates remarkable capabilities, with a load-bearing capacity of 650 grams and contraction strain of 33% with speeds of up to 480 mm/s. Our experiments established precise relationships between electromagnetic force, muscle displacement, and current. Notably, our actuator surpasses the load-bearing capacities of previous similar soft actuators. These results affirm the practical utility of MagFlex and set the stage for future advances in soft robotics.
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- etd-115088
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- Year
- 2023
- Date created
- 2023-12-13
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- etd-115088
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- Last modified
- 2024-01-25
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Permanent link to this page: https://digital.wpi.edu/show/v118rj79d