Implementation of electromagnetic actuators in biorobotic applications

There are various trade-offs in the implementation of different electromagnetic (EM) actuators for biorobotic applications, which require not only a high level of torque relative to their sizes, but also stiffness characteristics resembling that of biological joints. In this paper, we present a review of EM actuators implementation and the way they are configured in actuation systems for biorobotic applications, based on a literature survey as well as on experiments.