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

Copaci, Dorin; Blanco, Dolores; Martin-Clemente, Alejandro; Moreno, Lourdes

doi:10.1177/1729881419886747

Cited by 47 publications

(34 citation statements)

References 12 publications

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“…Por otro lado (Copaci et al, 2020) resume el trabajo realizado en losúltimos años por su grupo de investigación, en relación con el modelado y el control de actuadores basados en SMA. Han implementado diferentes enfoques de control basados en modelos no lineales complejos y otros métodos de control sin modelos en sistemas reales.…”

Section: Métodos De Caracterizaciónunclassified

Caracterización de las SMAs y sus aplicaciones: Una revisión

Paez-Pidiache¹,

Lozada‐Castillo²,

Luviano‐Juárez³

2021

ICBI

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Los materiales elaborados a partir de aleaciones con memoria de forma (SMA) son clasificados como "materiales inteligentes", pues presentan características como : alta relación fuerza / peso, bajo peso y accionamiento silencioso. El Nitinol es una aleación metálica con una relación de 50% Ni - 50% Ti (NiTi) que se entrena en memoria y forma,la cual es ampliamente utilizada para imitar el comportamiento de los músculos humanos, pues al calentarse se contraen, debido al efecto de memoria de forma, y regresan a su forma al enfriarse. Una de las maneras de emplear el NiTi en aplicaciones biomédicas y caracterizar el material, es a partir del diseño de actuadores a base de SMAs. Este trabajo presenta algunos métodos para la caracterización de actuadores con SMA y además hace una revisión, definido antes para usar las aplicaciones biomédicas desde el descubrimiento del NiTi y la implementación en sistemas de rehabilitación actuales.

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Section: Métodos De Caracterizaciónunclassified

Caracterización de las SMAs y sus aplicaciones: Una revisión

Paez-Pidiache¹,

Lozada‐Castillo²,

Luviano‐Juárez³

2021

ICBI

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“…Depending on the posture, different numeric polynomial sequences and side points are provided for the SG filter LabVIEW program. Memory shape materials can be used as actuators for exoskeleton systems because it does not require external or onboard functioning energy, thereby increasing energy efficiency [63] [64]. There are numerous forms of memory materials that can be used, but for the proposed exoskeleton, a tension spring is used as it mimics kinetic movement properties of the pneumatic air muscle when contracting to support the user when squatting and storing the energy.…”

Section: Proposed Semg Based Exoskeletonmentioning

confidence: 99%

Design and development of the sEMG-based exoskeleton strength enhancer for the legs

Cenit¹,

Gandhi²

2020

J. Mechatron. Electr. Power Veh. Technol.

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This paper reviews the different exoskeleton designs and presents a working prototype of a surface electromyography (EMG) controlled exoskeleton to enhance the strength of the lower leg. The Computer Aided Design (CAD) model of the exoskeleton is designed, 3D printed with respect to the golden ratio of human anthropometry, and tested structurally. The exoskeleton control system is designed on the LabVIEW National Instrument platform and embedded in myRIO. Surface EMG sensors (sEMG) and flex sensors are used coherently to create different state filters for the EMG, human body posture and control for the mechanical exoskeleton actuation. The myRIO is used to process sEMG signals and send control signals to the exoskeleton. Thus, the complete exoskeleton system consists of sEMG as primary sensor and flex sensor as a secondary sensor while the whole control system is designed in LabVIEW. FEA simulation and tests show that the exoskeleton is suitable for an average human weight of 62 kg plus excess force with different reactive spring forces. However, due to the mechanical properties of the exoskeleton actuator, it will require an additional lift to provide the rapid reactive impulse force needed to increase biomechanical movement such as squatting up. Finally, with the increasing availability of such assistive devices on the market, the important aspect of ethical, social and legal issues have also emerged and discussed in this paper.

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“…The SMA actuator offers the advantages of small dimensions and flexibility, making it good option for miniature, soft, and wearable devices. Different control approaches were tested for these applications [19]; however, the use of this type of material remains limited due to its disadvantages, for instance, high energy consumption and low work frequency. In several studies, the control of SMA actuators with the pulse width modulation (PWM) method was studied and compared with other methods.…”

Section: Introductionmentioning

confidence: 99%

Efficiency Analysis of SMA-Based Actuators: Possibilities of Configuration According to the Application

et al. 2021

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Shape memory alloy (SMA) actuators have recently demonstrated their potential for various applications in fields such as robotics, medicine, aerospace, and automotive. Its features, such as low weight and high force, simplicity, noiseless operation, and low cost compared with other conventional actuator, are only a few advantages of this actuator, which is receiving increasing interest among researchers. However, the use of these actuators is still limited by some of their characteristics: high position error in the cooling stage when the actuator works at frequencies that exceed the necessary cooling time and high electrical energy consumption. Different actuator configurations can help minimize these disadvantages through modifying the length, the number of cables, or the sheath used in the actuator, which modify the characteristics of the complete system. In this work, we developed different configurations of SMA actuators and tested their performance in terms of efficiency and the position error in the cooling stage. The findings demonstrate that over-dimensioned actuators are more energetically efficient and present a faster initial form recovery. The multi-wires actuator configuration produce a better response in terms of position but are less energy efficient. These conclusions allow for the selection of the most appropriate configuration based on the requirements of each particular application.

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

Cited by 47 publications

References 12 publications

Caracterización de las SMAs y sus aplicaciones: Una revisión

Caracterización de las SMAs y sus aplicaciones: Una revisión

Design and development of the sEMG-based exoskeleton strength enhancer for the legs

Efficiency Analysis of SMA-Based Actuators: Possibilities of Configuration According to the Application

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