Hyun, Myung Wook Yoo, Jeonghoon Hwang, Seoung Tack Choi, Jun Ho Kang, Sungchul Kim, Seung-Jong 2024-01-21T01:02:05Z 2024-01-21T01:02:05Z 2021-09-02 2007-06 0018-9464 https://pubs.kist.re.kr/handle/201004/134372 Safety and performance are often required for robots interacting with humans. A variable stiffness joint (VSJ) is a useful device to reduce the shock against a human being by decreasing the joint stiffness quickly. In this study, a novel concept of VSJ using permanent magnets is suggested. It can have stronger stiffness compared with previous systems to satisfy payload conditions. However, this system requires a positioning mechanism to move the rotor to the axial direction for the variable stiffness. This study focuses on the optimal design of a permanent-magnet-type VSJ. The analysis is based on the finite-element simulation. The virtual work method is used to calculate the force and torque of VSJ. The modification of the initial concept model is preceded and a prototype is implemented and tested to compare analysis results. Also, the Halbach array concept is added to increase the torque of VSJ. The parameter optimization scheme is applied based on the design of experiments and a final design is suggested. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC FORCE Optimal design of a variable stiffness joint using permanent magnets Article 10.1109/TMAG.2007.893771 1 IEEE TRANSACTIONS ON MAGNETICS, v.43, no.6, pp.2710 - 2712 IEEE TRANSACTIONS ON MAGNETICS 43 6 2710 2712 scie scopus 000246706200207 2-s2.0-34249089542 Engineering, Electrical & Electronic Physics, Applied Engineering Physics Article; Proceedings Paper FORCE design of experiments Halbach array optimal design permanent magnet variable stiffness joint (VSJ)