Conceptual Design and Experimental Test of an Electromagnetic-Spring Actuator Robotic Applications

This paper presents the theoretical study, design and experimental result of an original electromagnetic-spring actuator addressed for exoskeleton and/or rehabilitation applications. The proposed mechanism is designed with 2 passive magnets and an active magnet which allow store energy during the flexion and extension movements by means of the magnetic potential energy. The electromagnetic-spring actuator can control the position, speed and variable force by means of the electrical current applied to the active magnetic actuator. In this way, the actuator can be adapted to the requirements of torque according to its input signal.