Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures

Sheng, Jing; Gandhi, Dheeraj; Gullapalli, Rao P.; Simard, J. Marc; Desai, Jaydev P.

doi:10.1109/tro.2016.2623348

Cited by 34 publications

(21 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This ability of producing single-crystals in micro-scale allowed them to overcome the brittleness of SMA structures when they are produced in small-scales using a poly-crystal inner structure. In their work involving the design of a torsional actuator based on SMAs, Reference [37] used a meso-scale antagonistic structure for bilateral functionality. Despite the disadvantage of difficult heat-transfer at the macro-scale, SMA structures as passive super-elastic units in seismic applications is possible as seen in Reference [38].…”

Section: Scalability Of Smasmentioning

confidence: 99%

An Overview of Novel Actuators for Soft Robotics

2018

View full text Add to dashboard Cite

In this systematic survey, an overview of non-conventional actuators particularly used in soft-robotics is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary and potential applications. In addition to this, initial guidelines to compare the performance and applicability of these novel actuators are provided. The meta-analysis is restricted to five main types of actuators: shape memory alloys (SMAs), fluidic elastomer actuators (FEAs), shape morphing polymers (SMPs), dielectric electro-activated polymers (DEAPs), and magnetic/electro-magnetic actuators (E/MAs). In exploring and comparing the capabilities of these actuators, the focus was on eight different aspects: compliance, topology-geometry, scalability-complexity, energy efficiency, operation range, modality, controllability, and technological readiness level (TRL). The overview presented here provides a state-of-the-art summary of the advancements and can help researchers to select the most convenient soft actuators using the comprehensive comparison of the suggested quantitative and qualitative criteria.

show abstract

Section: Scalability Of Smasmentioning

confidence: 99%

An Overview of Novel Actuators for Soft Robotics

2018

View full text Add to dashboard Cite

show abstract

“…Otherwise, additional customized heater layer that targets a specific zone of SMA is used (36,37). MRR systems use various types of SMA actuators such as torsional (38) or folding (39) actuators in addition to the most prevalent spring/string actuators (40). Ribbon-type linear SMA actuators can also be composed of modular blocks called unit cells (41) that can extend, rotate, and bend.…”

Section: Actuationmentioning

confidence: 99%

Modular Reconfigurable Robotics

Seo

Paik

Yim

2019

Annu. Rev. Control Robot. Auton. Syst.

100

View full text Add to dashboard Cite

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.

show abstract

“…It shows that the SMA torsion actuator can depend on the fiberoptic rotation sensor to achieve relatively precise tracking with a steady-state error of 0.21°. In addition, a robot for neurosurgical intracerebral hemorrhage evacuation (NICHE) [15] has been developed by integrating a fiberoptic rotation sensor with the SMA torsion joint for proof-of-concept demonstrations. Figs.…”

Section: Experimental Studiesmentioning

confidence: 99%

“…The meso-scale SMA torsion actuator, presented in our prior works [15]–[17], was developed for neurosurgical applications under computed tomography (CT) imaging guidance. Within the actuator, a pair of antagonistic SMA torsion springs, which restore to memorized configurations at high temperature, are bonded with a rotary disc integrated with a shaft, which is supported by two metallic micro bearings for smooth rotation.…”

Section: Introductionmentioning

confidence: 99%

Development of a Mesoscale Fiberoptic Rotation Sensor for a Torsion Actuator

Sheng

Desai

2018

IEEE Robot. Autom. Lett.

Self Cite

View full text Add to dashboard Cite

This paper presents the development of a meso-scale fiberoptic rotation sensor for a shape memory alloy (SMA) torsion actuator for neurosurgical applications. Within the sensor, a rotary head with a reflecting surface is capable of modulating the light intensity collected by optical fibers when the rotary head is coupled to the torsion actuator. The mechanism of light intensity modulation is modeled, followed by experimental model verification. Meanwhile, working performances for different rotary head designs, optical fibers, and fabrication materials are compared. After the calibration of the fiberoptic rotation sensor, the sensor is capable of precisely measuring rotary motion and controlling the SMA torsion actuator with feedback control.

show abstract

Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures

Cited by 34 publications

References 29 publications

An Overview of Novel Actuators for Soft Robotics

An Overview of Novel Actuators for Soft Robotics

Modular Reconfigurable Robotics

Development of a Mesoscale Fiberoptic Rotation Sensor for a Torsion Actuator

Contact Info

Product

Resources

About