Tongyi Shang

Mathematic Modeling and Optimal Design of a Magneto-Rheological Clutch for the Compliant Actuator in Physical Robot Interactions

Magneto-rheological actuators equipped with magneto-rheological clutches (MRCs) are newly used in robots to provide intrinsic compliance and sense human contacts. However, using the favorite finite element analysis (FEA) method to analyze and design MRCs is very computationally expensive and greatly