Fig. 3: The EEM motor and joints.
From: Muscle-inspired elasto-electromagnetic mechanism in autonomous insect robots
a The schematic illustration of the EEM motor. A flexure linkage mechanism is integrated in the elastomeric structure such that it can convert the actuator’s linear contraction/relaxation motion into rotational movement in the linkage. The EEM motor can be easily scaled to millimeter size and decimeter size. b The bistable EEM motor. (i) The actuation strategy and the output force definition of the EEM motor. \({F}_{{{{\rm{e}}}}{{{\rm{m}}}}}\) represents the magnetic attractive force and \({F}_{{{{\rm{e}}}}}\) represents the elastic response. (ii) The maximum and average output forces of the bistable motor during the contraction and relaxation phases across various actuation currents. c The EEM motors are modified to construct the translational joint for contraction and the rotational joint for flapping. Source data for (b) is provided as a Source Data file.
