Electromagnetic Continuously Variable Transmission (EMCVT) System for Precision Torque Control in Human-Centered Robotic Applications

Abstract

In human-centered robotic applications, safety, efficiency, and adaptability are critical for enabling effective interaction and performance. Incorporating electromagnetic continuously variable transmission (EM-CVT) systems into robotic designs enhances both safety and precise, adaptable motion control. The flexible power transmission offered by CVTs allows robots to operate across diverse environments, supporting various tasks, human interaction, and safe collaboration. This study presents a CVT-based mechanical subsystem developed using two cones and an intermediate belt-driven transmission mechanism, providing efficient power and motion transfer. The control subsystem consists of six strategically positioned electromagnets energized by signals from a microcontroller. This electromagnetic actuation enables rapid and precise adjustments to the transmission ratio, enhancing overall system performance. A linear relationship between slip percentage and gear ratio was observed, indicating that the control system achieves stable and efficient operation, with a measured power consumption of 2.95 W per electromagnet. Future work will focus on validating slip performance under dynamic loading conditions, integrating the system into robotic platforms, and optimizing materials and control strategies to enable broader real-world deployment.