This paper presents a new actuator design that integrates a conventional motor with a custom rotary magnetic spring producing a non-uniform magnetic field. A computational framework is introduced to tailor the magnetic field for specific oscillatory tasks, minimizing energy consumption. Experiments with a prototype demonstrate significantly lower energy use during repetitive tasks such as pick-and-place or oscillatory limb motions compared to conventional motors.
Why it matters: Many robotic tasks involve oscillatory motion, which is often energy-inefficient with standard actuators. By embedding task-optimized non-uniform magnetic fields into motors, this approach enables substantial energy savings and could improve the efficiency of future robotic systems.