Jeong H. Yoon

Design and Control of a Novel Compact Nonlinear Rotary Magnetic SEA (MSEA) for Practical Robotic Gripper Implementation

In this letter we present a novel design of a nonlinear series elastic actuator based on magnetic repulsive forces. The primary application of the actuator is for simple robotic grippers that operate in close proximity to the environment and are exposed to hazards of collision frequently. The design