ELECTROMAGNETIC ACTUATOR WITH VARIABLE COMPLIANCE

An electromagnetic actuator (1) is provided, comprising a motor shaft (2) defining an output axis (2a) of the motion of the actuator (1), a rotor (3) connected integrally to the motor shaft (2) and movable in response to the application of a first magnetic field, a first stator (4) configured to generate the first magnetic field in proportion to a first electrical signal so as to move the rotor (3) and including a first wall (40), a second stator (5) including a second wall (50) defining with the first wall (40) a chamber (45) including at least part of the rotor (3), and at least one magnetorheological fluid (6) housed in at least part of the chamber (45) and configured to oppose the motion of the rotor (3) in an inversely proportional way to its own compliance, in which the rotor (3) comprises a partition wall (30) configured to divide the chamber (45) into a first portion (45a) defined between the first wall (40) and the partition wall (30) and in a second portion (45b) defined between the wall (30) and the second wall (50), the wall (30) magnetically isolates the first portion (45a) and the second portion (45b), the magnetorheological fluid (6) is housed in the second portion (45b), and the second stator (5) is also configured to generate a second magnetic field in proportion to a second electrical signal in such a way as to vary, on command, the viscosity of said magnetorheological fluid (6) by implementing an actuator (1) with variable compliance.