Shock Absorption for Legged Locomotion through Magnetorheological Leg-Stiffness Control

The objective of this study was to evaluate the performance a magnetorheological-fluid-based variable stiffness actuator leg under high impact forces through optimal tuning and control damping properties. To achieve this, drop testing experiments were conducted with at various heights payload masses. results showed that while lower higher can lead greater energy dissipation, respectively, also protect from deflecting beyond its functional range. Comparison rigid 57.5% reduction in force, more compliant 61.4% reduction. These findings demonstrate importance considering both design legged robots for force resistance. This simultaneously highlights efficacy proposed purpose.