Development of functional force solenoid actuator

Antagonistic pairs of biarticular muscles are very important for human body motions. Actuators driving such muscle motions are needed for creating genuine humanoid robots. A system of actuators is designed using the solenoid linear actuators with the abilities to move realistic humanoid robots. The solenoid coils are devised with the theoretical calculations to produce functional forces depend on the stroke position, where actualized concrete actuators show the completely expected ability. These performances are based on developments of recent electro-magnetic materials and power modules.