A Computationally Efficient Hysteresis Model for Magneto-Rheological Clutches and Its Comparison with Other Models

The collaborative robot market has experienced rapid growth, leading to advancements in compliant actuation and torque control. Magneto-rheological (MR) clutches offer a hardware-level solution for achieving both compliance control through adjustable coupling between the input output of MR clutch. However, presence frequency-dependent magnetic hysteresis makes controlling challenging. In this paper, we present comparative study six widely used models propose computationally efficient algebraic model address issue modeling rotary clutches. We compare estimated torques with experimental measurements from prototype clutch, evaluate computational complexity accuracy model. Our proposed demonstrates superior approximately two times less than Bouc–Wen model, twenty memory requirement neural network-based models. show that our excellent potential embedded indirect schemes systems hysteresis, such as isolators.