Shape Memory Alloy Actuated Robot Protheses: Initial Prototypes

1999 ◽  
Author(s):  
Charles Pfeiffer ◽  
Constantinos Mavroidis ◽  
Kathryn DeLaurentis ◽  
Mike Mosley
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Human Anatomy ◽  
Robotic Systems ◽  
Artificial Limbs ◽  
Artificial Muscles ◽  
The Novel ◽  
Prosthetic Devices ◽  
Robotic Devices ◽  
Commercial Applications

Abstract This paper describes the goals and current accomplishments of this research. The main thrust of this effort is to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability. The key to satisfying these objectives is the use of Shape Memory Alloy (SMA) artificial muscles as actuators. A general methodology to find the placement of SMA wires to achieve desired ranges of motion is presented. Three experimental prototypes, emulating human skeletal structures that are actuated by SMA artificial muscles are described in detail. It is expected that upper extremity amputees will greatly benefit from the commercialization of the novel robot prosthetic devices that will be developed in this research. These lightweight prostheses with high lifting capabilities, force-reflective characteristics and multi-degree of freedom dexterity will tremendously improve the capabilities of amputees and therefore will attract their interest. In addition, our SMA actuated robotic devices can find other commercial applications. Of special interest to our team are two other commercial applications: space robotic systems and robot toys.

scholarly journals Structural material with designed thermal twist for a simple actuation

2022 ◽  
Vol 11 (1) ◽  
pp. 414-422
Author(s):  
Nan Yang ◽  
Yong Deng ◽  
Jinlun Huang ◽  
Xiaodong Niu
Keyword(s):  
Mechanical Properties ◽  
Structural Material ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Rotational Motion ◽  
Thermal Deformation ◽  
Artificial Muscles ◽  
Chiral Structure ◽  
Potential Applications ◽  
Robotic Devices

Abstract Materials with desired thermal deformation are very important for various engineering applications. Here, a material with the combination of chiral structure and TiNi shape memory alloy (SMA) sheets that performs a twist during heating is proposed. The thermo-mechanical properties of these materials are experimentally investigated. Inspired by this, a car-like material performing translational and rotational motion is designed, which illustrates the potential applications for the next-generation soft robotic devices. Based on this method, one can design remotely manipulated artificial muscles, nanorobots, revolute pairs, and thermal sensors or actuators in a noncontact fashion.

scholarly journals Shape Memory Alloy Artificial Muscles for Treatments of Fecal Incontinence

2004 ◽  
Vol 45 (2) ◽  
pp. 272-276 ◽  
Author(s):  
Yun Luo ◽  
Toshiyuki Takagi ◽  
Shintaro Amae ◽  
Motoshi Wada ◽  
Tomoyuki Yambe ◽  
...  
Keyword(s):  
Fecal Incontinence ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Artificial Muscles

Structural fatigue and fracture of shape memory alloy actuators: Current status and perspectives

2021 ◽  
pp. 1045389X2110572
Author(s):  
Md Mehedi Hasan ◽  
Theocharis Baxevanis
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Current Status ◽  
Structural Fatigue ◽  
Sma Actuators ◽  
Empirical Relations ◽  
Fatigue And Fracture ◽  
And Performance ◽  
Commercial Applications ◽  
Crack Growth Rates

Shape Memory Alloy (SMA)-actuators are efficient, simple, and robust alternatives to conventional actuators when a small volume and/or large force and stroke are required. The analysis of their failure response is critical for their design in order to achieve optimum functionality and performance. Here, (i) the existing knowledge base on the fatigue and overload fracture response of SMAs under actuation loading is reviewed regarding the failure micromechanisms, empirical relations for actuation fatigue life prediction, experimental measurements of fracture toughness and fatigue crack growth rates, and numerical investigations of toughness properties and (ii) future developments required to expand the acquired knowledge, enhance the current understanding, and ultimately enable commercial applications of SMA-actuators are discussed.

On a Finger Model Actuated With Shape Memory Alloy Artificial Muscles

2003 ◽  
Author(s):  
Veturia Chiroiu ◽  
Ligia Munteanu ◽  
Traian Badea ◽  
Cornel Mihai Nicolescu
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Aluminum Matrix ◽  
Electrical Current ◽  
Longitudinal Axis ◽  
Damping Capacity ◽  
Artificial Muscles ◽  
Niti Wires ◽  
Finger Model ◽  
Start Temperature

The simulation of a flexible finger, actuated with the shape memory alloys (SMAs) artificial muscles, is presented in the paper. The finger is modeled as a cylindrically rod with three embedded NiTi wires in a n aluminum matrix. Forces between NiTi wires causes bending in any plane perpendicular to the longitudinal axis of the finger. The NiTi wires are heated above the austenitic start temperature by passing an electrical current, and the deflected wire tends to return to the initial configuration. Using characteristics of SMAs such as high damping capacity, super-elasticity, thermo-mechanical behavior and shape memory, the actuation for the finger is theoretically introduced and discussed.

B-Spline Based Adaptive Control of Shape Memory Alloy Actuated Robotic Systems

2002 ◽  
Author(s):  
Yavuz Eren ◽  
Constantinos Mavroidis ◽  
Jason Nikitczuk
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Large Scale ◽  
Full Range ◽  
Spline Approximation ◽  
Variable Structure ◽  
Robotic Systems ◽  
Integral Control ◽  
B Spline

In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination of gain scheduling, B-spline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion of a SMA actuated robotic system in large-scale applications. To demonstrate the validity of BAC, a novel anthropomorphic SMA Actuated forearm/wrist mechanism is utilized in real-time PC based control experiments. BAC is experimentally compared to PID and integral variable structure controllers and it is shown that its performance is superior.

The photo-electrical performance of the novel CuAlMnFe shape memory alloy film in the diode application

2021 ◽  
Vol 264 ◽  
pp. 114931
Author(s):  
C. Aksu Canbay ◽  
A. Tataroğlu ◽  
A. Dere ◽  
Abdullah G. Al-Sehemi ◽  
Abdulkerim Karabulut ◽  
...  
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Alloy Film ◽  
Electrical Performance ◽  
The Novel

scholarly journals Flexible shape memory alloy actuators for soft robotics: Modelling and control

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141988674 ◽  
Author(s):  
Dorin-Sabin Copaci ◽  
Dolores Blanco ◽  
Alejandro Martin-Clemente ◽  
Luis Moreno
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Linear Models ◽  
Complex Dynamics ◽  
Weight Ratio ◽  
Model Free ◽  
Wearable Robots ◽  
Robotic Devices ◽  
Soft Actuators ◽  
And Control

One of the limitations in the development of really soft robotic devices is the development of soft actuators. In recent years, our research group has developed a new flexible shape memory alloy actuator that provides more freedom of movements and a better integration in wearable robots, especially in soft wearable robots. Shape memory alloy wires present characteristics such as force/weight ratio, low weight, and noiseless actuation, which make them an ideal choice in these types of applications. However, the control strategy must take into account its complex dynamics due to thermal phase transformation. Different control approaches based on complex non-linear models and other model-free control methods have been tested on real systems. Some exoskeleton prototypes have been developed, which demonstrate the utility of this actuator and the advantages offered by these flexible actuators to improve the comfort and adaptability of exoskeletons.

Shape Memory Alloy As Artificial Muscles for Facial Prosthesis

2017 ◽  
Author(s):  
Paul Mazza ◽  
Moochul Shin ◽  
Anthony Santamaria
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Response Times ◽  
Electrical Current ◽  
Artificial Muscles ◽  
Elliptical Equation ◽  
Facial Motion ◽  
Facial Prosthesis ◽  
Nitinol Wire ◽  
Original Length

Facial paralysis affects hundreds of thousands of people each year; a common result of infection, trauma, stroke, and Bell’s palsy, among others. Achieving facial prosthetics that are lightweight, comfortable, aesthetically pleasing, energy efficient, and that allow human-like facial motion is a challenge. This study focuses on examining the feasibility of the use of a shape memory alloy as a means of low-power artificial muscles. Nitinol is a shape memory alloy (SMA) that can recover up to four percent of its original length when exposed to either a large enough change in temperature which can be controlled via electrical current or a stress. In this work, human eyelid muscles are replicated using Nitinol embedded in silicon. Silicone is used due to its elasticity, texture, flexibility, compatibility and ease of manufacturing. A mold is created based on human facial geometry around the orbital using a 3D printer. Based on average human eyelid dimensions, as well as the contraction properties of the Nitinol wire, an elliptical equation is used determine the length of wire required to completely close the eyelid from an open position. Temperature change of the system is controlled by modulating current through the resistive Nitinol wire. The contraction and expansion times of the eyelids are measured. The circuit is then optimized so that response times mimicked that of the human eyelid. Finally, based on the amount of times the average human blinks, the average daily power consumption is calculated. Future directions including miniaturization of the control system, bonding between SMA wires and silicone, and energy management are discussed.

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