Thermohydrodynamic analysis of magnetorheological conical bearings with conjugated heat transfer.

This study presents a comprehensive investigation into a 3D simulation of magnetorheological (MR) conical bearings, focusing on considering viscous dissipation using the conjugated heat transfer approach. The behavior of MR fluids is expressed through the utilization of the Bingham-Papanastasiou constitutive equation. Notably, this study considers variations in viscosity and yield stress as functions of both magnetic field intensity and temperature. The study utilizes a multidisciplinary approach, encompassing fluid dynamics, magnetism, and heat transfer, to model and analyze the behavior of MR fluids within conical bearing geometries. The governing equations containing Cauchy momentum, energy, and Maxwell equations are solved using the finite element method. This research delves into the impacts of viscous dissipation on the functional and characteristic attributes of conical bearings. The energy equations in solid and fluid domains and extended considerations to the plug region within viscous dissipation are specifically addressed. Extensive validation is performed through a comparative analysis involving experimental, numerical, and analytical studies to ensure the validity of results. The results reveal the substantial impact of temperature on both the characteristics and functionality of magnetorheological conical bearings.

Replication of Radial Pulses Using Magneto-Rheological Fluids.

The radial pulse is a critical health marker with expanding applications in wearable technology. To improve these applications, developing a pulse generator that consistently produces realistic pulses is crucial for validation and training. The goal of this study was to design and test a cost-effective pulse simulator that can accurately replicate a wide range of age-dependent radial pulses with simplicity and precision. To this end, this study incorporated a magneto-rheological (MR) fluid device into a cam-based pulse simulator. The MR device, as a key component, enables pulse shaping without the need for additional cams, substantially reducing the cost and complexity of control compared with existing pulse simulators. To evaluate the performance of the MR pulse simulator, the root-mean-square (RMS) error criterion (less than 5%) was used to compare the experimentally obtained pulse waveform with the in vivo pulse waveform for specific age groups. After demonstrating that the MR simulator could produce three representative in vivo pulses, a parametric study was conducted to show the feasibility of the slope-based pulse-shaping method for the MR pulse simulator to continuously generate a range of age-related pulses.

Enhancement of rider comfort by magnetorheological elastomer based damping treatment at strategic locations of an electric two wheeler.

The vibrations generated in the two-wheeled vehicles like motorcycles due to road irregularities such as cracks, potholes, and bumps on the road cause discomfort for the rider as well as the pillion. These vibrations are reported to cause lower back pains, musculoskeletal effects, fatigue, and long-term health issues. Particularly, electric two-wheelers are more susceptible to these vibrations caused by the road and need attention. This paper presents an innovative technique for the reduction of vibrations at prominent locations in the electric two-wheeler to improve the rider's comfort. All measured accelerations are about vertical direction (along z-axis as per ISO 2631-1 standard). Passive and Semi-active damping treatments namely, Room temperature vulcanizing Silicone rubber and Magnetorheological elastomer (MRE) were applied on the test vehicle at strategic locations of vibration. Both were compared for their effectiveness in reducing the vibrations. Results showed that MRE based damping technique proved better vibration isolation at the strategic locations. The weighted root mean square acceleration as well as vibration dose values were found to decrease with the help of damping treatments thus improving the rider's overall comfort level.

Molecular dynamics and experimental analysis of energy behavior during stress relaxation in magnetorheological elastomers.

The diverse applications of magnetorheological elastomer (MRE) drive efforts to understand consistent performance and resistance to failure. Stress relaxation can lead to molecular chain deterioration, degradation in stiffness and rheological properties, and ultimately affect the life cycle of MRE. However, quantifying the energy and molecular dynamics during stress relaxation is challenging due to the difficulty of obtaining atomic-level insights experimentally. This study employs molecular dynamics (MD) simulation to elucidate the stress relaxation in MRE during constant strain. Magnetorheological elastomer models incorporating silicone rubber filled with varying magnetic iron particles (50-80 wt%) were constructed. Experimental results from an oscillatory shear rheometer showed the linear viscoelastic region of MRE to be within 0.001-0.01% strain. The simulation results indicated that stress relaxation has occurred, with stored energies decreased by 8.63-52.7% in all MRE models. Monitoring changes in energy components, the highest final stored energy (12,045 kJ) of the MRE model with 80 wt% Fe particles was primarily attributed to stronger intramolecular and intermolecular interactions, revealed by higher potential energy (3262 kJ) and van der Waals energy (- 2717.29 kJ). Stress relaxation also altered the molecular dynamics of this MRE model as evidenced by a decrease in kinetic energy (9362 kJ) and mean square displacement value (20,318 Å2). The MD simulation provides a promising quantitative tool for elucidating stress relaxation, preventing material failure and offering insights for the design of MRE in the nanotechnology industry.

Toward Onboard Proportional Control of Multi-Chamber Soft Pneumatic Robots: A Magnetorheological Elastomer Valve Array.

Soft pneumatic actuators (SPAs) are commonly used in various applications because of their structural compliance, low cost, ease of manufacture, high adaptability, and safe human-robot interaction. The traditional approach for achieving proportional control of soft pneumatic robots requires the use of industrial proportional valves or syringe drivers, which are not only rigid and bulky but also hard to be integrated into the body of soft robots. In our previous research, we developed a Magnetorheological elastomer (MRE)-based soft valve that showed advantages for controlling SPAs due to its compliance, compactness, robustness, and compatibility for continuous pressure modulation. Modern soft robots with multiple chambers require more MRE valves onboard for their control. However, merely packing more MRE valves for soft robots can cause problems like magnetic interference, flow rate deviation, and overheating. Therefore, in this study, we proposed a two-dimensional MRE valve array design to solve issues of magnetic interference and overheating when expanding from a single MRE proportional valve into an integrated array. The magnetic interference and the overheating problem were investigated through multiphysics simulation, bringing the optimal choice of valve spacing (1.2 times the single valve diameter), magnetic coil pole arrangement (same pole), and the cooling system design (internal cooling chamber with flowing water). Physical experiments showed that our MRE valve array maintained its original flowrate performance with low magnetic interference (0.89 mT) and low coil temperature (under 73.9°C for 5 min).

Influence of Excitation Parameters on Finishing Characteristics in Magnetorheological Finishing for 6063 Aluminum Alloy.

The present work is aimed at studying the effects of the magnetorheological finishing process, using a low-frequency alternating magnetic field, on the finishing performance of 6063 aluminum alloy. The study investigates the influence of key excitation parameters such as current, frequency, excitation gap, and iron powder diameter on the material removal and surface roughness (Ra) of the finished workpiece by experiments. This study employs a single-factor experimental method, and the finish surface is analyzed by a Zigo non-contact white light interferometer. The magnetic field strength in the processing area increases with the increase in the excitation current and decreases with the increase in the excitation gap. When the current frequency is set to 1 Hz, the circulation and renewal of abrasives in the magnetic cluster is most sufficient, resulting in the optimal surface roughness value for the workpiece. According to the experimental results of the excitation parameters, more suitable process parameters were selected for a two-stage finishing experiment. The surface roughness of 6063 aluminum alloy was improved from 285 nm to 3.54 nm. Experimental results highlighted that the magnetorheological finishing using a low-frequency alternating magnetic field is a potential technique for obtaining nano-scale finishing of the 6063 aluminum alloy.

Enhancement of Magnetorheological Fluids with Size and Morphology-Optimized Fe3O4 Nanoparticles: Impacts on Rheological Properties and Stability.

In this study, we synthesized Fe3O4 nanoparticles (Fe3O4 NPs) of varying sizes and morphologies using the solvothermal method and incorporated them as additives into carbonyl iron magnetorheological fluids (CI-MRFs). We tested the shear stress, yield stress, viscosity and storage modulus of the MRFs using a magnetorheometer to investigate how the size and morphology of Fe3O4 NPs influence the performance of MRFs. Our results indicate that the size of the additive nanoparticles significantly enhances the MR properties of MRFs more than their morphological attributes. This enhancement results from optimizing and stabilizing the CI magnetic chain structure of the nanoparticles in the presence of a magnetic field. Specifically, MRFs with Fe3O4 NPs averaging 250 nm in size exhibit higher yield stress and storage modulus and show increased resistance to shear strains. Although the nanoparticle morphology has a modest effect on the rheological properties of MRFs, hexahedral and octahedral particles can enhance rheological properties through increased internal friction compared to spherical particles. Additionally, Fe3O4 NPs of different sizes and morphologies improve the sedimentation stability of MRFs, with those around 250 nm being particularly effective at slowing down sedimentation. Both hexahedral and octahedral Fe3O4 NPs slow down sedimentation more effectively than spherical Fe3O4 NPs. This paper investigates the rheological properties of CI-MRFs by controlling the additive particle size and morphological features, providing a research foundation for the design and optimization of MRFs.

Characterization of Magnetorheological Impact Foams in Compression.

This study focuses on the development and compressive characteristics of magnetorheological elastomeric foam (MREF) as an adaptive cushioning material designed to protect payloads from a broader spectrum of impact loads. The MREF exhibits softness and flexibility under light compressive loads and low strains, yet it becomes rigid in response to higher impact loads and elevated strains. The synthesis of MREF involved suspending micron-sized carbonyl Fe particles in an uncured silicone elastomeric foam. A catalyzed addition crosslinking reaction, facilitated by platinum compounds, was employed to create the rapidly setting silicone foam at room temperature, simplifying the synthesis process. Isotropic MREF samples with varying Fe particle volume fractions (0%, 2.5%, 5%, 7.5%, and 10%) were prepared to assess the effect of particle concentrations. Quasi-static and dynamic compressive stress tests on the MREF samples placed between two multipole flexible strip magnets were conducted using an Instron servo-hydraulic test machine. The tests provided measurements of magnetic field-sensitive compressive properties, including compression stress, energy absorption capability, complex modulus, and equivalent viscous damping. Furthermore, the experimental investigation also explored the influence of magnet placement directions (0° and 90°) on the compressive properties of the MREFs.

Prototyping and Experimental Analysis of Active Offloading Footwear for Patients With Diabetes Using an Array of Magnetorheological Fluid-Based Modules.

BACKGROUND: Diabetic foot ulceration is a serious challenge worldwide which imposes an immense risk of lower extremity amputation and in many cases may lead to the death. The presented work focuses on the offloading requirements using an active approach and considers the use of magnetorheological fluid-based modules to redistribute high plantar pressures (PPs). METHODS & RESULTS: Experimentation validated a single module with a threshold peak pressure of 450 kPa, whereas an offloading test with a three-module array and complete footwear validated a maximum pressure reduction of 42.5% and 34.6%, respectively. CONCLUSION: To our knowledge, no such active and electrically controllable offloading footwear has been reported yet that has experimentally demonstrated PP reduction of more than 30% over the offloading site.

Seismic performance and resilience of composite damping self-centering braced frame structures.

A magnetorheological self-centering brace (MR-SCB) has been proposed to improve the energy dissipation capability of the brace. In this paper, a 15-story MR-SCB braced frame is numerically analyzed to examine its seismic performance and resilience. The MR-SCB provides higher lateral stiffness than the buckling restrained brace and greater energy dissipation capability than the existing self-centering brace. The brace also exhibits a reliable recentering capacity. Under rare earthquakes, the maximum average residual deformation ratio of the structure is less than the 0.5% limit. Under mega earthquakes, the maximum average interstory drift ratio of the structure does not exceed the 2.0% elastoplastic limit, and its maximum average floor acceleration ratio is 1.57. The effects of mainshock and aftershock on the structural behavior are also investigated. The interstory drift and residual deformation of the structure increase with the increase of the intensity of the aftershock. Under aftershocks with the same intensity as the mainshocks, the maximum increment of the residual deformation ratio of the structure is 81.8%, and the average interstory drift ratios of the 12th, 7th, and 3rd stories of the structure are increased by 13.4%, 9.2% and 7.5%, respectively. The strong aftershock may significantly cause increased damage to the structure, and increase its collapse risk and residual deformation.

Effect of the surface coating of carbonyl iron particles on the dispersion stability of magnetorheological fluid.

The dispersion stability of carbonyl iron particle (CIP)-based magnetorheological fluid (MRF) is improved by CIP, which particle is etched with hydrochloric acid (HCl) to form porous structure with many hydroxyl groups and subsequently coated with silane coupling agents that have varying chain lengths. The microstructures, coating effect and magnetism of the CIPs were examined using the Scanning Electron Microscopy, Automatic Surface and Porosity Analyzer (BET), Fourier-Transform Infrared Spectroscopy, Thermogravimetric Analysis and Vibrating Sample Magnetometer. Furthermore, the rheological properties and dispersion stability of the MRFs were assessed using a Rotating Rheometer and Turbiscan-lab. The results revealed that the nanoporous structure appeared on the CIPs and the specific surface area increased remarkably after being etched by hydrochloric acid. Additionally, as the chain length of the silane coupling agent increases, the coated mass on the particles increases, the the density and the saturation magnetization of particles decreased, and the coated particles with different shell thicknesses were obtained; without a magnetic field, the viscosity of MRF prepared by coated particles increase slightly, due to the enhancement of special three-dimensional network structure; under a magnetic field, the viscosity of the MRF decreased distinctly; the sedimentation rate of MRF decreased from 58 to 3.5% after 100 days of sedimentation, and the migration distances of the MRFs were 22.4, 3.7, 2.4, and 0 mm, with particle sedimentation rates of 0.149, 0.019, 0.017, and 0 mm/h, respectively. The MRF with high dispersion stability was obtained, and the etching of CIP by HCl and the proper chain length of the coating of silane coupling agent were proved effective manners to improve the dispersion stability of MRF.

A New Type of Hydraulic Clutch with Magnetorheological Fluid: Theory and Experiment.

This paper presents a new type of hydraulic clutch operating by means of magnetorheological (MR) fluids and the results achieved from both theoretical analysis and experimental measurement. A hydraulic clutch system with MR working fluid and a rotating magnetic field located was designed. The clutch was based on the principle of using a rotating magnetic field created by an alternating current electromagnet to set the MR fluid in motion. To test the hydraulic clutch with a rotating magnetic field, MR fluids were produced by our laboratory, consisting of solid iron particles of various diameters mixed with a silicone oil. With MR working fluid and a rotating magnetic core was designed. The rheological properties of the MR fluids were assessed on the basis of tests carried out with a Brookfield DV2T rheometer equipped with a magnetic device for generating a magnetic field. The characteristics of the hydraulic clutch were tested on a specially built test stand. It was found that the torque transmitted by the clutch increased with the rotational speed of the magnetic field and with a lower rotational speed of the beaker in which the working fluid was placed. It was also found that the greatest torque occurred with the working fluid with the highest iron content. Based on the analysis of the structure and characteristics of the clutch in which the magnetic field is used, it has been shown that the design of the developed clutch is similar to that of an induction clutch, and its characteristics correspond to the characteristics of the eddy current clutch. Therefore, the proposed new clutch with MR fluid and rotating magnetic field can be applied to stationary power transmission systems in a manner similar to an eddy current clutch.

Investigation of Macroscopic Mechanical Behavior of Magnetorheological Elastomers under Shear Deformation Using Microscale Representative Volume Element Approach.

Magnetorheological elastomers (MREs) are a class of smart materials with rubber-like qualities, demonstrating revertible magnetic field-dependent viscoelastic properties, which makes them an ideal candidate for development of the next generation of adaptive vibration absorbers. This research study aims at the development of a finite element model using microscale representative volume element (RVE) approach to predict the field-dependent shear behavior of MREs. MREs with different elastomeric matrices, including silicone rubber Ecoflex 30 and Ecoflex 50, and carbonyl iron particles (CIPs) have been considered as magnetic particles. The stress-strain characteristic of the pure silicon rubbers was evaluated experimentally to formulate the nonlinear Ogden strain energy function to describe hyper-elastic behavior of the rubbery matrix. The obtained mechanical and magnetic properties of the matrix and inclusions were integrated into COMSOL Multiphysics to develop the RVE for the MREs, in 2D and 3D configurations, with CIP volume fraction varying from 5% to 40%. Periodic boundary condition (PBC) was imposed on the RVE boundaries, while undergoing shear deformation subjected to magnetic flux densities of 0-0.4 T. Comparing the results from 2D and 3D modeling of isotropic MRE-RVE with the experimental results from the literature suggests that the 3D MRE-RVE can be effectively used to accurately predict the influence of varying factors including matrix type, volume fraction of magnetic particles, and applied magnetic field on the mechanical behavior of MREs.

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials-A Review.

This paper comprehensively reviews sensors and sensing devices developed or/and proposed so far utilizing two smart materials: electrorheological fluids (ERFs) and magnetorheological materials (MRMs) whose rheological characteristics such as stiffness and damping can be controlled by external stimuli; an electrical voltage for ERFs and a magnetic field for MRMs, respectively. In this review article, the MRMs are classified into magnetorheological fluids (MRF), magnetorheological elastomers (MRE) and magnetorheological plastomers (MRP). To easily understand the history of sensing research using these two smart materials, the order of this review article is organized in a chronological manner of ERF sensors, MRF sensors, MRE sensors and MRP sensors. Among many sensors fabricated from each smart material, one or two sensors or sensing devices are adopted to discuss the sensing configuration, working principle and specifications such as accuracy and sensitivity. Some sensors adopted in this article include force sensors, tactile devices, strain sensors, wearable bending sensors, magnetometers, display devices and flux measurement sensors. After briefly describing what has been reviewed in a conclusion, several challenging future works, which should be undertaken for the practical applications of sensors or/and sensing devices, are discussed in terms of response time and new technologies integrating with artificial intelligence neural networks in which several parameters affecting the sensor signals can be precisely and optimally tuned. It is sure that this review article is very helpful to potential readers who are interested in creative sensors using not only the proposed smart materials but also different types of smart materials such as shape memory alloys and active polymers.

Mechanical Properties Comparison of Isotropic vs. Anisotropic Hybrid Magnetorheological Elastomer-Fluid.

Magnetorheological (MR) materials are smart materials that can change their rheological characteristics when exposed to a magnetic field. Such rheological properties include viscosity and dynamic modulus. MR materials have emerged as one of the most efficient smart materials that can modify mechanical and viscoelastic characteristics. Depending on the medium used, MR materials can be classified into two types: magnetorheological fluids (MRFs) and magnetorheological elastomers (MREs). MREs are classified as isotropic or anisotropic based on CIP distribution inside the elastomer matrix. A unique hybrid material incorporating MRE and MRF is constructed in this work to investigate, compare, and the dynamic properties of isotropic, anisotropic, hybrid isotropic, and hybrid anisotropic MREs under various magnetic fields (0, 104, and 160.2 mT). The created samples are subjected to extensive testing, including static and dynamic evaluations. In the static tests, experiments use a compression linear displacement mode with a fixed maximum gap change of 3 mm. The temperature is maintained at a constant level of 24 °C throughout the 40 s test duration for each test, and the magnetic field is incrementally increased by varying the number of magnets, ranging from 0 to 160.2 mT for dynamic qualities using compression oscillations on a dynamic mechanical analyzer (DMA), including frequency and strain-dependent data. These experiments, carried out using sinusoidal shear movements, include an excitation frequency range of 0.1 Hz to 15 Hz while preserving, with a fixed shear strain of 2%.

Mechanical and Functional Responses in Astrocytes under Alternating Deformation Modes Using Magneto-Active Substrates.

This work introduces NeoMag, a system designed to enhance cell mechanics assays in substrate deformation studies. NeoMag uses multidomain magneto-active materials to mechanically actuate the substrate, transmitting reversible mechanical cues to cells. The system boasts full flexibility in alternating loading substrate deformation modes, seamlessly adapting to both upright and inverted microscopes. The multidomain substrates facilitate mechanobiology assays on 2D and 3D cultures. The integration of the system with nanoindenters allows for precise evaluation of cellular mechanical properties under varying substrate deformation modes. The system is used to study the impact of substrate deformation on astrocytes, simulating mechanical conditions akin to traumatic brain injury and ischemic stroke. The results reveal local heterogeneous changes in astrocyte stiffness, influenced by the orientation of subcellular regions relative to substrate strain. These stiffness variations, exceeding 50% in stiffening and softening, and local deformations significantly alter calcium dynamics. Furthermore, sustained deformations induce actin network reorganization and activate Piezo1 channels, leading to an initial increase followed by a long-term inhibition of calcium events. Conversely, fast and dynamic deformations transiently activate Piezo1 channels and disrupt the actin network, causing long-term cell softening. These findings unveil mechanical and functional alterations in astrocytes during substrate deformation, illustrating the multiple opportunities this technology offers.

Synthesis of rGO/CoFe2O4 Composite and Its Magnetorheological Characteristics.

In this study, composite particles of rGO/CoFe2O4 were synthesized using a solvothermal method to fabricate a low-density magnetorheological (MR) material with enhanced sedimentation stability. The morphology and crystallographic features of rGO/CoFe2O4 were characterized via SEM, TEM, and XRD, and its magnetic properties were tested using VSM. The MR fluid was formulated by blending rGO/CoFe2O4 particles into silicone oil. Under different magnet strengths (H), a rotational rheometer was used to test its MR properties. Typical MR properties were observed, including shear stress, viscosity, storage/loss modulus, and dynamic yield stress (τdy) following the Herschel-Bulkley model reaching 200 Pa when H is 342 kA/m. Furthermore, the yield stress of the MR fluid follows a power law relation as H increases and the index changes from 2.0 (in the low H region) to 1.5 (in the high H region). Finally, its MR efficiency was calculated to be about 104% at H of 342 kA/m.

Improvement of roughness in ultrasonic assisted magnetorheological finishing of small titanium alloy nuts by orthogonal test method.

Titanium alloy with high corrosion resistance, high strength-to-density ratio, and excellent biocompatibility has a wide range of applications in the field of biomedical implants. Polishing experiments of titanium alloy with a small size and complex shapes were investigated using an ultrasonic assisted magnetorheological finishing (UMRF) device excited by a three-pole magnetic field generator. The models of the normal force and the shear force were first proposed based on the Preston equation to analyze the mechanism of material removal in the UMRF process. Subsequently, the single-factor experiments using titanium alloy nuts (M3) and the MR polishing fluid with silicon carbide abrasives were carried out. Furthermore, to improve the surface roughness and the change rate of surface roughness of nuts, orthogonal tests with a standard L9(34) orthogonal array were designed and performed based on the optimized process parameters obtained from the single-factor experiment. The results indicated the effect on surface roughness and change rate of surface roughness as applied current > roller speed > ultrasonic amplitude > spindle speed and applied current > roller speed > spindle speed > ultrasonic amplitude, respectively. Moreover, the surface roughness was improved from an initial 1.247 µm to a final 0.104 µm after the polishing for 80 min under these optimal process parameters.

Transient Response of Macroscopic Deformation of Magnetoactive Elastomeric Cylinders in Uniform Magnetic Fields.

Significant deformations of bodies made from compliant magnetoactive elastomers (MAE) in magnetic fields make these materials promising for applications in magnetically controlled actuators for soft robotics. Reported experimental research in this context was devoted to the behaviour in the quasi-static magnetic field, but the transient dynamics are of great practical importance. This paper presents an experimental study of the transient response of apparent longitudinal and transverse strains of a family of isotropic and anisotropic MAE cylinders with six different aspect ratios in time-varying uniform magnetic fields. The time dependence of the magnetic field has a trapezoidal form, where the rate of both legs is varied between 52 and 757 kA/(s·m) and the maximum magnetic field takes three values between 153 and 505 kA/m. It is proposed to introduce four characteristic times: two for the delay of the transient response during increasing and decreasing magnetic field, as well as two for rise and fall times. To facilitate the comparison between different magnetic field rates, these characteristic times are further normalized on the rise time of the magnetic field ramp. The dependence of the normalized characteristic times on the aspect ratio, the magnetic field slew rate, maximum magnetic field values, initial internal structure (isotropic versus anisotropic specimens) and weight fraction of the soft-magnetic filler are obtained and discussed in detail. The normalized magnetostrictive hysteresis loop is introduced, and used to explain why the normalized delay times vary with changing experimental parameters.

Design and Control of Upper Limb Rehabilitation Training Robot Based on a Magnetorheological Joint Damper.

In recent years, rehabilitation robots have been developed and used in rehabilitation training for patients with hemiplegia. In this paper, a rehabilitation training robot with variable damping is designed to train patients with hemiplegia to recover upper limb function. Firstly, a magnetorheological joint damper (MR joint damper) is designed for the rehabilitation training robot, and its structural design and dynamic model are tested theoretically and experimentally. Secondly, the rehabilitation robot is simplified into a spring-damping system, and the rehabilitation training controller for human movement is designed. The rehabilitation robot dynamically adjusts the excitation current according to the feedback speed and human-machine interaction torque, so that the rehabilitation robot always outputs a stable torque. The magnetorheological joint damper acts as a clutch to transmit torque safely and stably to the robot joint. Finally, the upper limb rehabilitation device is tested. The expected torque is set to 20 N, and the average value of the output expected torque during operation is 20.02 N, and the standard deviation is 0.635 N. The output torque has good stability. A fast (0.5 s) response can be achieved in response to a sudden motor speed change, and the average expected output torque is 20.38 N and the standard deviation is 0.645 N, which can still maintain the stability of the output torque.