A Novel Fabric Muscle Based on Shape Memory Alloy Springs

Park, Seong Jun; Kim, Uikyum; Park, Cheol Hoon

doi:10.1089/soro.2018.0107

Cited by 45 publications

(40 citation statements)

References 36 publications

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“…Park and colleagues controlled the contraction length of their SMA-based fabric muscle with a PI position controller, closed on a wire encoder in parallel with their SMA-based fabric muscle, and with a low-level current regulator [82]. The exosuit for assisting wrist movements presented in [106] and the actuator presented in [111], instead, use a feedback temperature controller, closed on a thermocouple attached to the NiTi springs.…”

Section: A Actuation and Low-level Controlmentioning

confidence: 99%

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges

Xiloyannis¹,

Alicea

Georgarakis³

et al. 2022

IEEE Trans. Robot.

121

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Wearable robots are undergoing a disruptive transition, from the rigid machines that populated the science-fiction world in the early eighties to lightweight robotic apparel, hardly distinguishable from our daily clothes. In less than a decade of development, soft robotic suits have achieved important results in human motor assistance and augmentation. In this paper, we start by giving a definition of soft robotic suits and proposing a taxonomy to classify existing systems. We then critically review the modes of actuation, the physical human-robot interface and the intention-detection strategies of state of the art soft robotic suits, highlighting the advantages and limitations of different approaches. Finally, we discuss the impact of this new technology on human movements, for both augmenting human function and supporting motor impairments, and identify areas that are in need of further development.

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Section: A Actuation and Low-level Controlmentioning

confidence: 99%

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges

Xiloyannis¹,

Alicea

Georgarakis³

et al. 2022

IEEE Trans. Robot.

121

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show abstract

“…where µ and δ are the mean value and standard deviation, respectively. If we substitute Equation (12) into Equation (11), then the main hysteresis loop of the SMA material can be described by the Duhem model as…”

Section: The Phase Transformation Kinetics Model Of Shape Memory Alloymentioning

confidence: 99%

“…The SMA spring actuator can produce displacement greater than 100% of its original length, which means it has a wider range of applications than the SMA wire actuator [11]. For example, Seong Jun Park et al proposed a new SMA spring-based fabric muscle (SFM) and verified the availability of SFM as a soft actuator through performance evaluation [12]. An SMA-based spring actuated gripper (SAG) was designed and developed for facilitating minimally invasive surgeries (MIS) [13].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator

Feng-chen

Mao

et al. 2022

Micromachines

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The shape memory alloy (SMA) actuator is widely used in aerospace, medical and robot fields because of its advantages of low driving voltage, large driving force, no noise and high-power–weight ratio. Therefore, it is of great significance to establish the theoretical model of the SMA actuator and analyze the driving characteristics of the SMA actuator. On the basis of summarizing the constitutive model of the shape memory alloy spring, the phase transformation dynamics model of SMA including the minor hysteresis loop is established using the Duhem model in this paper, and the theoretical models of the bias and differential SMA spring actuator are established. At the same time, a PID position controller including anti-saturation and anti-overheating functions is proposed to control the position of the SMA actuator. Finally, the position control simulation model of the SMA spring actuator is established and simulated. Simulation results show that the position of the SMA actuator can be well controlled by using the model and control method established in this paper.

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“…The inherent compliance of soft pneumatic actuators allows for a safe and comfortable physical interaction between the user and the robot, but also a large degree of complexity in sensing and control. Emerging devices have limited control capabilities, with many operating in binary modes of assistance/no assistance ( Simpson et al, 2017 ; Cappello et al, 2018 ; Zhou et al, 2021 ), or leveraging closed-loop bang–bang or model-based control to maintain a desired internal pressure ( Skorina et al, 2015 ; Koh et al, 2017 ; Sridar et al, 2018 ; Chen C. et al, 2020 ; Park et al, 2020 ) where the desired state is inferred from other external sensors. To the degree possible, in order to minimize space, complexity, and manufacturing cost, it is desirable to minimize the need for sophisticated electromechanical sensors, motivating new techniques for perception.…”

Section: Introductionmentioning

confidence: 99%

Assisting Forearm Function in Children With Movement Disorders via A Soft Wearable Robot With Equilibrium-Point Control

Realmuto

Sanger²

2022

Front. Robot. AI

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Wearable robots are envisioned to amplify the independence of people with movement impairments by providing daily physical assistance. For portable, comfortable, and safe devices, soft pneumatic-based robots are emerging as a potential solution. However, due to the inherent complexities, including compliance and nonlinear mechanical behavior, feedback control for facilitating human–robot interaction remains a challenge. Herein, we present the design, fabrication, and control architecture of a soft wearable robot that assists in supination and pronation of the forearm. The soft wearable robot integrates an antagonistic pair of pneumatic-based helical actuators to provide active pronation and supination torques. Our main contribution is a bio-inspired equilibrium-point control scheme for integrating proprioceptive feedback and exteroceptive input (e.g., the user’s muscle activation signals) directly with the on/off valve behavior of the soft pneumatic actuators. The proposed human–robot controller is directly inspired by the equilibrium-point hypothesis of motor control, which suggests that voluntary movements arise through shifts in the equilibrium state of the antagonistic muscle pair spanning a joint. We hypothesized that the proposed method would reduce the required effort during dynamic manipulation without affecting the error. In order to evaluate our proposed method, we recruited seven pediatric participants with movement disorders to perform two dynamic interaction tasks with a haptic manipulandum. Each task required the participant to track a sinusoidal trajectory while the haptic manipulandum behaved as a Spring-Dominate system or Inertia-Dominate system. Our results reveal that the soft wearable robot, when active, reduced user effort on average by 14%. This work demonstrates the practical implementation of an equilibrium-point volitional controller for wearable robots and provides a foundational path toward versatile, low-cost, and soft wearable robots.

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A Novel Fabric Muscle Based on Shape Memory Alloy Springs

Cited by 45 publications

References 36 publications

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges

Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator

Assisting Forearm Function in Children With Movement Disorders via A Soft Wearable Robot With Equilibrium-Point Control

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