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Article

High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction

by
Zahid Ullah
1,
Thachapan Sermsrisuwan
2,
Khemwutta Pornpipatsakul
1,
Ronnapee Chaichaowarat
1,2,* and
Witaya Wannasuphoprasit
1
1
Department of Mechanical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand
2
International School of Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand
*
Author to whom correspondence should be addressed.
J. Sens. Actuator Netw. 2024, 13(5), 65; https://doi.org/10.3390/jsan13050065
Submission received: 10 September 2024 / Revised: 2 October 2024 / Accepted: 7 October 2024 / Published: 10 October 2024
(This article belongs to the Section Actuators, Sensors and Devices)

Abstract

Enhancing the transparency of high-transmission-ratio linear actuators is crucial for improving the safety and capability of high-force robotic systems having physical contact with humans in unstructured environments. However, realizing such enhancement is challenging. A proposed solution for active body weight support systems involves employing a macro–mini linear actuator incorporating an electrorheological-fluid brake to connect a high-force unit with an agile, highly back-drivable unit. This paper introduces the use of an electromagnetic (EM) brake with reduced rotor inertia to address this challenge. The increased torque capacity of the EM brake enables integration with a low-gear-ratio linear transmission. The agile translation of the endpoint is propelled by a low-inertia motor (referred to as the “mini”) via a pulley-belt mechanism to achieve high transparency. The rotor of the EM brake is linked to the pulley. Damping modulation under high driving force is achieved through the adjustment of the brake torque relative to the rotational speed of the pulley. When the brake is engaged, it prevents any relative motion between the endpoint and the moving carrier. The endpoint is fully controlled by the ball screw of the high-force unit, referred to as the “macro”. A scaled prototype was constructed to experimentally characterize the damping force generated by the mini motor and the EM brake. The macro–mini linear actuator, equipped with an intrinsic failsafe feature, can be utilized for active body weight support systems that demand high antigravity force.
Keywords: actuator; electromagnetic brake; impedance control; robotics; gait rehabilitation actuator; electromagnetic brake; impedance control; robotics; gait rehabilitation

Share and Cite

MDPI and ACS Style

Ullah, Z.; Sermsrisuwan, T.; Pornpipatsakul, K.; Chaichaowarat, R.; Wannasuphoprasit, W. High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction. J. Sens. Actuator Netw. 2024, 13, 65. https://doi.org/10.3390/jsan13050065

AMA Style

Ullah Z, Sermsrisuwan T, Pornpipatsakul K, Chaichaowarat R, Wannasuphoprasit W. High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction. Journal of Sensor and Actuator Networks. 2024; 13(5):65. https://doi.org/10.3390/jsan13050065

Chicago/Turabian Style

Ullah, Zahid, Thachapan Sermsrisuwan, Khemwutta Pornpipatsakul, Ronnapee Chaichaowarat, and Witaya Wannasuphoprasit. 2024. "High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction" Journal of Sensor and Actuator Networks 13, no. 5: 65. https://doi.org/10.3390/jsan13050065

APA Style

Ullah, Z., Sermsrisuwan, T., Pornpipatsakul, K., Chaichaowarat, R., & Wannasuphoprasit, W. (2024). High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction. Journal of Sensor and Actuator Networks, 13(5), 65. https://doi.org/10.3390/jsan13050065

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