Variable Damping Actuator Using an Electromagnetic Brake for Impedance Modulation in Physical Human–Robot Interaction

Compliance actuation systems are efficient and safe, drawing attention to their development. However, compliance has caused bandwidth loss, instability, mechanical vibration in robotic systems. Variable physical damping was introduced address these issues. This paper presents a technique for obtaining variable properties using an electromagnetic brake. The relationship mapping of the voltage braking torque is studied applied concept. A new model proposed demonstrate system performance gained by introducing damping. experimental setup comprises brake motor with integrated controller speed control feedback. provides motion, while replicates through friction mechanism. concept evaluated experimentally 1-degree-of-freedom rotational system. Experimental results show that can generate desired high degree fidelity.