A multiple SMA hybrid actuator to generate expressions on the face

Jayatilake, Dushyantha; Suzuki, Kenji

doi:10.1109/robot.2010.5509449

Cited by 4 publications

(9 citation statements)

References 11 publications

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“…In our previous work, we found the latency of the Robot Mask actuators to be less than 500 ms [10]. Hence we can assume that the majority of the latency associated in this experiment is due to bioelectrical signal processing delay.…”

Section: Disscussionmentioning

confidence: 58%

“…In previous work, we reported the design criteria of the Robot mask and the detailed design of the SMA based unidirectional [9] and bidirectional [10] silent actuators (SIAC). We reported on the use of six actuators to support five facial muscles.…”

Section: A Robot Maskmentioning

confidence: 99%

“…Improvements were made to our previously proposed SIAC units of [9], [10]. The sliders were placed on a bronze guideway, which is connected to the electrical ground and copper brushes were used to transmit electricity from the guideway to sliders.…”

Section: ) Actuation Unitmentioning

confidence: 99%

“…This way, we managed to eliminate hanging power and signal wires inside the actuator and reduce friction in the guideway. Main components and the control algorithm are similar to [10], in which position control is achieved by switching between the segments of the forward and backward oriented SMA segments, except each forward and backward directions consist of one segment each.…”

Section: ) Actuation Unitmentioning

confidence: 99%

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A wearable Robot Mask to support rehabilitation of facial paralysis

Jayatilake

Isezaki

Gruebler

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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In previous work, we introduced the Shape Memory Alloy actuator based Robot Mask that can be used to enhance the expressiveness of the face. The basic concept of that design was the pulling of the skin through wires attached to the face and we explained the human anatomy based criteria of selecting these pulling points and directions. In this paper, we describe a case study of using the Robot Mask to assist physiotherapy of a hemifacial paralyzed patient.Earlier we reported the general design criteria of the Robot Mask. However, the significant difference in shape and size of human head among different individuals demands further customization of the Robot Mask. In this research a number of adjustment and customization stages were employed, from the design level to the implementation level and this paper briefly describes them. We also explain a depth image sensor data based analyzing method, which can record dynamics of facial expression in a continuous manner. We then evaluate the effectiveness of the Robot Mask by analyzing the range sensor data. We show that, while providing quick responses, the Robot Mask can also reduce the asymmetry of a smiling face.

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Section: Disscussionmentioning

confidence: 58%

Section: A Robot Maskmentioning

confidence: 99%

Section: ) Actuation Unitmentioning

confidence: 99%

Section: ) Actuation Unitmentioning

confidence: 99%

See 2 more Smart Citations

A wearable Robot Mask to support rehabilitation of facial paralysis

Jayatilake

Isezaki

Gruebler

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

Self Cite

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show abstract

“…This system works on the principal of attaching wires and pulling the skin towards anatomically selected directions. They have also proposed a series of linear actuators to produce the required skin displacement [12,13]. However, external pulling have limitations.…”

Section: Introductionmentioning

confidence: 99%

Selective Facial Nerve Stimulation with an Array Electrode

Jayatilake¹,

Suzuki²,

Kamibayashi³

2010

Biomedical Engineering

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Over the years, Neuromuscular Electrical Stimulation has successfully been used for generating muscle contractions for limb movements and rehabilitation. Although single pair of electrodes has been the standard practice for stimulation, recently there have been some researches on the use multi field array electrodes for electrical stimulation. Array electrodes have many advantages in selective innervation of closely distributed bunch of nerves. In this study we have designed a 16 field partially flexible Platinum electrode array. The 28×28 [mm] electrode array, which is suitable for intracranial stimulations, provides a higher selectivity while being unobtrusive. We have been investigating the supporting of expressiveness for the facially paralyzed and during this study we have investigated the use of above array electrode to contract facial muscles, selectively. We have also investigated the possibility of controlling the amount of muscle contraction and simultaneous stimulation of multiple pair of electrodes. In this paper, we present our findings that could pave the way to a successful implementation of externally stimulated facial expressions.

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A bidirectional shape memory alloy folding actuator

Paik¹,

Wood²

2012

Smart Mater. Struct.

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This paper presents a low-profile bidirectional folding actuator based on annealed shape memory alloy sheets applicable for meso-and microscale systems. Despite the advantages of shape memory alloys-high strain, silent operation, and mechanical simplicity-their application is often limited to unidirectional operation. We present a bidirectional folding actuator that produces two opposing 180 • motions. A laser-patterned nickel alloy (Inconel 600) heater localizes actuation to the folding sections. The actuator has a thin (<1 mm) profile, making it appropriate for use in robotic origami. Various design parameters and fabrication variants are described and experimentally explored in the actuator prototype.

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A multiple SMA hybrid actuator to generate expressions on the face

Cited by 4 publications

References 11 publications

A wearable Robot Mask to support rehabilitation of facial paralysis

A wearable Robot Mask to support rehabilitation of facial paralysis

Selective Facial Nerve Stimulation with an Array Electrode

A bidirectional shape memory alloy folding actuator

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