Hysteresis is a nonlinear phenomenon present in many structures, such as those assembled by bolted joints. Despite large number of recent findings related to identification techniques for these systems, the problem still challenging and open contributions. To fill gap concerning proposition algorithms based on closed-form solutions, this work introduces use harmonic balance method identify stoc...

This article proposes a method to precisely estimate the load force of magnetic lead screw (MLS)-based series elastic actuators (SEAs) in real time. The transmissions MLS-based SEAs generally comprise permanent magnets (PMs). Owing pole distortion and characteristic nonlinear PMs, conventional estimation methods are less accurate for than with mechanical springs. In proposed method, MLSs, an ML...

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 p...