This paper describes a novel soft actuator using a magnetorheological elastomer. First, the material characteristics in the magnetization process and major contributing factors to magnetization of the magnetic elastomer are shown. Second, an actuator using a magnetorheological elastomer combined with an embedded electromagnet is proposed. The magnetic circuit when a current is applied is described and its operating principle is explained. Finally, the static and dynamic motions and dynamic stress of the actuator are determined by an experimental prototype and measurement setup.
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Kashima et al. (2012) studied this question.