We are studying several types of linear actuators for safe physical interaction. a) Electromagnetic Linear Actuator: This actuator is a direct-drive actuator and can control its output force via rapid changes in the exciting coil current. It also enables a robot’s joint to exhibit active impedance characteristics. b) Integrated Pneumatic-Electromagnetic Hybrid Actuator: Basically hybrid actuators consist of two or more types of actuators. They can achieve a better force/torque bandwidth than a single principle actuator. We are developing a compact direct-drive hybrid actuator with pneumatic-electromagnetic integrated structure, which has both high power and quick response.

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