On the Feasibility and Suitability of MR Fluid Clutches in Human-Friendly Manipulators

@article{Shafer2011OnTF,
  title={On the Feasibility and Suitability of MR Fluid Clutches in Human-Friendly Manipulators},
  author={Alexander S. Shafer and M. R. Kermani},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2011},
  volume={16},
  pages={1073-1082}
}
An investigation into the suitability of magneto-rheological (MR) clutches in the context of developing feasible actuation solutions for physical human-robot interaction is presented. Contact and collision forces pose great danger to humans, and thus, the primary criteria for actuator development is safety. While the majority of existing solutions make use of mechanical compliance in some form, in this paper, we will approach the problem by considering the use of MR clutches for coupling the… CONTINUE READING
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