We deals with one of the elementary functions required of a human intimate robot-the softness. This means compliance control. The robot must have a soft outer body and disturbance compensation. This condition can be satisfied by the unique characteristics of the new electromagnetic actuator we have developed. The actuator consists of 1 bobbin, 2 coils, 6 guides and 1 moving part. The moving part in the center of the bobbin is made of a rare earth metal permanent magnet with six straight grooves. The bobbin has six /spl phi/1 guides inside. The springs on both ends of the guide cause equal contact of the magnet grooves and guides. Therefore, these guides prevent vibration of the magnet by equal frictional resistance. The magnetic force of the coil and the permanent magnet affect the holding force of the moving magnet which functions as a damper for disturbance compensation. When this force is not supplied to the coils, the moving part is free. The freedom while stopping the current is a very important function for a human intimate robot. As a result, the actuator developed satisfies the required conditions for human intimate robots.
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