Design of SPMSM for wearable robot by using space harmonic analysis

Research output: Contribution to journalArticle


- This paper discusses the analytical design method of a 125W surface-mounted permanent magnet synchronous motor (SPMSM) as an actuator for an exoskeleton wearable robot. Considering the properties of the wareable robot application, pole and slot combination is determined to minimize vibration as well as cogging torque. In addition, the shape of the magnetic core and permanent magnets are determined by using the analytical approaches including space harmonic analysis (SHA) to maximize torque density as well as minimize cogging torque and torque ripple, simultaneously. As a result, the SPMSM which has high torque density with small axial length, low cogging torque/torque ripple and a large hollow rotor is designed.

Original languageEnglish
Pages (from-to)634-639
Number of pages6
JournalTransactions of the Korean Institute of Electrical Engineers
Issue number5
Publication statusPublished - 2019 Jan 1



  • Cogging torque
  • Eccentricity
  • Exoskeleton
  • Surface-mounted permanent magnet synchronous motor
  • Torque ripple
  • Wearable robot

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