Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator

Force-controllable actuators are essential for guaranteeing safety in human-robot interactions. Magnetic lead screws (MLSs) transfer force without requiring contact between parts. These devices can drive the parts with high efficiency and no frictional contact, and they are force limited when overloaded. We have developed a novel MLS that does not include spiral permanent magnets and an MLS-driven linear actuator (MLSDLA) that uses this device....