SMA-Based Muscle-Like Actuation in Biologically Inspired Robots: A State of the Art Review

Coral, William; Rossi, Cláudio; Colorado, Julián; Lemus, Daniel; Barrientos, Antonio

doi:10.5772/50209

Cited by 27 publications

(14 citation statements)

References 74 publications

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“…The maximum stroke of linear SMA wire actuators lies between 5% and 8% [50,51]. Higher strains can be achieved with coil springs made from SMA wire, which represents a trade-off between smaller forces and larger strokes.…”

Section: Operation Range Of Smasmentioning

confidence: 99%

An Overview of Novel Actuators for Soft Robotics

2018

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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.

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Section: Operation Range Of Smasmentioning

confidence: 99%

An Overview of Novel Actuators for Soft Robotics

2018

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“…In general, all applications depend to some extent on the effect of the reaction action of the material and the conditions below that occur in a particular application, making a SMA a functional material (Fig. 9), (Coral et al, 2012).…”

Section: Discussionmentioning

confidence: 99%

“…Figures 10-17 illustrate some existing applications in the field (Coral et al, 2012;Westphal et al, 2011;Nguyen et al, 2010;Wang et al, 2009;Liu and Yen, 2008;Menciassi et al, 2004;Laschi et al, 2012;Rossi et al, 2011).…”

Section: Discussionmentioning

confidence: 99%

Biomechanically Inspired Machines, Driven by Muscle Like Acting NiTi Alloys

Apicella¹,

Aversa²,

Petrescu³

2018

American Journal of Engineering and Applied Sciences

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Abstract:The Shape of the Memory Alloy (SMA) is a very promising class of metallic materials with interesting non-linear properties such as Pseudo-Elasticity (PE), memory (MEM) and damping capacity due to high mechanical hysteresis and internal friction. Research shows a bioinventory approach to Shape Memory Alloy (SMA) design, a class of intelligent materials capable of reacting to a pulse (thermal for SMA) with shrinkage. Martensitic transformations in shape-effect crystals under the effect of external forces lead to large deformations of an inelastic nature. In some materials, these reversible deformations are in the range from one digit to at least two digits. The recovery of accumulated inelastic deformation and, as a consequence, the return to the original shape of the body can occur both in the process of unloading at a constant temperature (superelastic effect) and in heating (a form memory effect). Both effects are exciting with regard to their application in compact servomotors when heating the effect of shape memory generates stresses in most materials. If the shape memory alloy faces any shape recovery resistance, it can generate reactive force. The importance of this effect in technical applications is that the reactive force significantly exceeds the force that caused the initial change of shape. This can be used to produce a useful mechanical work. The biomechanically inspired machine that is discussed in the paper refers to pairs of muscle antagonists that are part of the skeletal muscles and are usually arranged in opposition so that a group of muscles contractors another group that relaxes or prolongs. The study proposes a model, a solution not only to design a specific application but also to provide an approach to be used for a wide range of adaptive applications (switching windows, intelligent shadows, parking and urban shelters, etc.). The shape changes in response to various external stimuli. The use of pairs of antagonists provides a solution for SMA-optimized systems where the main and proven advantages are: Easier and quicker shape change, the energy requirement for system operation, lower costs for SMA training and lack of overheating problems.

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“…searchers based on shape-memory alloy (SMA) materials, as detailed in this section. Numerous approaches to exploiting SMA materials in robotics have been proposed in the literature (Kheirikhar et al, 2011;Coral et al, 2012;Cianchetti, 2013). In particular, the use of SMA materials as actuators and their characterization has been reported (Russell and Gorbet, 1995;Ho and Desai, 2009;She et al, 2016).…”

Section: Innovative Attachment With Novel Robot Tendrils New Robot Stmentioning

confidence: 99%

Searching and Intertwining: Climbing Plants and GrowBots

et al. 2020

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Applications in remote inspection and medicine have motivated the recent development of innovative thin, flexible-backboned robots. However, such robots often experience difficulties in maintaining their intended posture under gravitational and other external loadings. Thin-stemmed climbing plants face many of the same problems. One highly effective solution adopted by such plants features the use of tendrils and tendril-like structures, or the intertwining of several individual stems to form braid-like structures. In this paper, we present new plant-inspired robotic tendril-bearing and intertwining stem hardware and corresponding novel attachment strategies for thin continuum robots. These contributions to robotics are motivated by new insights into plant tendril and intertwining mechanics and behavior. The practical applications of the resulting GrowBots is discussed in the context of space exploration and mining operations.

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SMA-Based Muscle-Like Actuation in Biologically Inspired Robots: A State of the Art Review

Cited by 27 publications

References 74 publications

An Overview of Novel Actuators for Soft Robotics

An Overview of Novel Actuators for Soft Robotics

Biomechanically Inspired Machines, Driven by Muscle Like Acting NiTi Alloys

Searching and Intertwining: Climbing Plants and GrowBots

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