MagFlex: An Electromagnetic Soft Actuator for Safe Human-Robot Interaction

Soft actuators have garnered substantial interest in robotics, promising safer and more adaptable human-robot interaction. This paper presents the development and evaluation of a novel electromagnetic soft actuator, named “MagFlex”, designed to address critical challenges associated with existing soft actuators. MagFlex demonstrates remarkable capabilities, with a load bearing capacity of 650 g and contraction strain of 33% and speeds of up to 480 mm/s. Our experiments established precise relationships between electromagnetic force, muscle displacement, and current. Notably, our actuator surpasses the load-bearing capacities of previous soft actuators. These results affirm the practical utility of MagFlex and set the stage for future advances in soft robotics.