Bio-Inspired Control System for Fingers Actuated by Multiple SMA Actuators

Uleru, George-Iulian; Hulea, Mircea; Burlacu, Adrian

doi:10.3390/biomimetics7020062

Cited by 9 publications

(6 citation statements)

References 39 publications

(48 reference statements)

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“…The proposed sensor is based on an electronic spiking neuron implemented in analogue hardware which obtained good results for the control of SMA actuated anthropomorphic fingers [13,14].…”

Section: Methodsmentioning

confidence: 99%

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Neuromorphic Sensor Based on FSR

Barleanu,

Hulea

2024

Preprint

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This work introduces a neuromorphic sensor based on force-sensing resistors (FSR) and spiking neurons for robotic systems. The proposed sensor integrates the FSR in the schematic of spiking neuron in order to make the sensor to generate spikes with frequency that depends on the applied force. The performance of the proposed sensor is evaluated for the control of a SMA-actuated ro-botic finger by monitoring the force during steady state when the finger pushes on a tweezers. For comparison purposes, we performed similar evaluation when the SNN receives input from a widely used compression load cell (CLC). The results show that the proposed FSR based neuro-morphic sensor has very good sensitivity to low forces and the function between the spiking rate and the applied force is continuous with good variation range. However, when compared to the CLC, the proposed sensor has lower linearity of the response, but it benefits from two orders of magnitude lower power consumption. These aspects imply that the neuromorphic sensor based on FSR are useful for bioinspired control of humanoid robotics representing a low power and low cost alternative the widely used sensors.

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“…The proposed sensor is based on an electronic spiking neuron implemented in analogue hardware which obtained good results for the control of SMA actuated anthropomorphic fingers [13,14].…”

Section: Methodsmentioning

confidence: 99%

“…Despite these disadvantages, the SMA benefits from the same actuation principle and are silent in operation as the natural muscles being suitable for actuation of the bioinspired systems. In addition, the spiking neurons are able to control directly the contraction of SMA actuators in a biomimetic manner by the firing rate [13,14].…”

Section: Sma Actuatorsmentioning

confidence: 99%

Neuromorphic Sensor Based on FSR

Barleanu,

Hulea

2024

Preprint

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show abstract

“…Despite these disadvantages, the SMA benefits from the same actuation principle and is silent in operation as the natural muscles are suitable for the actuation of the bioinspired systems. In addition, the spiking neurons are able to control directly the contraction of SMA actuators in a biomimetic manner by the firing rate [ 29 , 30 ].…”

Section: Introductionmentioning

confidence: 99%

Neuromorphic Sensor Based on Force-Sensing Resistors

Barleanu,

Hulea

2024

Biomimetics

Self Cite

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This work introduces a neuromorphic sensor (NS) based on force-sensing resistors (FSR) and spiking neurons for robotic systems. The proposed sensor integrates the FSR in the schematic of the spiking neuron in order to make the sensor generate spikes with a frequency that depends on the applied force. The performance of the proposed sensor is evaluated in the control of a SMA-actuated robotic finger by monitoring the force during a steady state when the finger pushes on a tweezer. For comparison purposes, we performed a similar evaluation when the SNN received input from a widely used compression load cell (CLC). The results show that the proposed FSR-based neuromorphic sensor has very good sensitivity to low forces and the function between the spiking rate and the applied force is continuous, with good variation range. However, when compared to the CLC, the response of the NS follows a logarithmic-like function with improved sensitivity for small forces. In addition, the power consumption of NS is 128 µW that is 270 times lower than that of the CLC which needs 3.5 mW to operate. These characteristics make the neuromorphic sensor with FSR suitable for bioinspired control of humanoid robotics, representing a low-power and low-cost alternative to the widely used sensors.

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“…Because of their high energy density, SMA wires are especially suitable for small and lightweight actuator systems, such as valves, small-size gripping systems and optical image stabilization [ 14 , 15 , 16 ]. Other fields of research include continuum robots for catheters and endoscopes as well as bionic applications [ 17 , 18 , 19 , 20 ]. In all these applications, the self-sensing feature of SMA wires is put to use, and externally positioned sensors are dispensable.…”

Section: Introductionmentioning

confidence: 99%

A Multifunctional Characterization Test Bench for Shape Memory Alloy Micro-Wires—Design, Implementation and Validation

et al. 2023

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Most relevant to predicting the behavior of shape-memory-alloy (SMA)-based actuator-sensor applications activated by Joule heating are the electro-mechanical characteristics of the material under consideration. For a comprehensive characterization, a single setup that is able to provide all relevant data and information is desirable. This work covers the design, implementation and validation of such a high-end test bench for the holistic characterization of SMA micro-wires. In addition, the setup provides the possibility of application simulation experiments. Key elements of the design are the clamping mechanism guided on air bearings, a linear direct drive, a high-resolution load cell, a high-precision constant current source and a stress-controlled in-line wire sample installation. All measurements take place inside an isolated, temperature-controlled chamber. With the presented setup, the electro-mechanical and thermal characteristics of SMA wire samples with diameters from 20 µm to 100 µm can be determined. Via hardware-in-the-loop (HiL) implementation, the outputs with different biasing mechanisms and additional end-stops can be simulated even at high ambient temperatures. The generated results facilitate the prediction of the exact characteristics of SMA-driven actuator-sensor systems in a variety of applications and lead to a better general understanding of the alloy’s properties. All functionalities and features of the setup are presented by discussing the results of exemplary experiments.

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Bio-Inspired Control System for Fingers Actuated by Multiple SMA Actuators

Cited by 9 publications

References 39 publications

Neuromorphic Sensor Based on FSR

Neuromorphic Sensor Based on FSR

Neuromorphic Sensor Based on Force-Sensing Resistors

A Multifunctional Characterization Test Bench for Shape Memory Alloy Micro-Wires—Design, Implementation and Validation

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