Wet shape memory alloy actuators for active vasculated robotic flesh

Mascaro, Stephen A.; Asada, H. Harry

doi:10.1109/robot.2003.1241609

Cited by 27 publications

(16 citation statements)

References 13 publications

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“…A lot of ideas have been generated to overcome these problems. Since this is a cooling problem suggestions were made to use cooling liquids [WPFH98,MA03]. A US patent [HL92] describes a method of producing specially conditioned fast twitching fibers driven by electromagnetic pulses.…”

Section: 3mentioning

confidence: 99%

Tactile Feedback at the Finger Tips for Improved Direct Interaction in Immersive Environments

Scheibe

Moehring

Froehlich

2007

2007 IEEE Virtual Reality Conference

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We present a new tactile feedback system for finger-based interactions in immersive virtual reality applications. The system consists of tracked thimbles for the fingers with shape memory alloy wires wrapped around each thimble. These wires touch the inside of the finger tips and provide an impression when they are shortened. We complement the impression on the finger tips by a subsequent vibration of the wire to generate a perceivable tactile stimulus over a longer period of time. The shortening and relaxation process of the wires as well as the vibration is controlled through a micro-controller receiving commands from the virtual reality application.We use the tactile feedback for communicating finger contacts with virtual objects in an application prototype for usability and reachability studies of car interiors. Our experiments with the system and an initial pilot study revealed that this type of feedback helps users to perform direct manipulation tasks with more reliability. Our users also preferred the system with tactile feedback over a system without the feedback. INTRODUCTIONThe automotive industry performs numerous analyses concerning safety, ergonomics, design, assembly and in many other areas during the development process of new car models. Today hardware models are commonly used for these analyses. The construction of these mock-ups is time-consuming and cost-intensive, their variability is limited. Some of the necessary analyses have the potential to be performed within virtual environments. Virtual models can be directly derived from CAD data and they are therefore available in very early phases of the development process. Variants and modifications can be accomplished easily and tools can be used that are not available in reality, e.g. arbitrary cuts and pseudo-colored visualizations of air flows inside the car.The use of virtual environments for ergonomic studies in a car interior is particularly challenging since the realistic interaction with various parts of the interior needs to be supported. We have developed the Immersive Interactive Data Model (I²D) [MF05], which allows users to directly interact with assemblies of the car such as doors, steering wheel, sun visors, etc. Two things are essential for this type of application in a CAVE-like environment: the real hand has to be exactly registered to the virtual hand to allow reachability studies and the users have to be able to recognize collisions of their fingers with virtual objects for reliable grasps and manipulations. However pure visual feedback is often not sufficient and haptic feedback systems are difficult to use in CAVE-like environments.We developed a tactile feedback system for the finger tips supporting users during direct interaction in immersive environments. The system consists of tracked thimbles for the fingers with thin shape memory alloy wires wound around each thimble (figure 1). The wires can be shortened by slightly heating them up by an electrical current. This effect is used to create an impression on the ...

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Section: 3mentioning

confidence: 99%

Tactile Feedback at the Finger Tips for Improved Direct Interaction in Immersive Environments

Scheibe

Moehring

Froehlich

2007

2007 IEEE Virtual Reality Conference

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“…In other words their actuation mechanism should resemble with biological muscle and they should have low power efficiency. Performance of actuators depends on their power to weight ratio (19). Higher will be the ratio better be actuation mechanism (i.e.…”

Section: Role Of Motors In Myoelectric Handsmentioning

confidence: 99%

Coeffecient of Underactuated Mechanism (CoUAM): Novel Approach for Underactuated Mechanism of Myoelectric Hand Prosthesis

Iftikhar

Jan

Mariappan

2011

2011 5th International Conference on Bioinformatics and Biomedical Engineering

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Underactuated mechanism (UAM) is commonly used to describe current version of prosthetic hands. Different numbers of motors are being used for finger and thumb movements range from 1 to 16. Our target of this paper is to assess a Coefficient of UAM (CoUAM) of different types of prosthesis and their relation in term of various parameters i.e. cost, weight, function, design simplifications etc. and also to classify them.

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“…This suggests that investigation into methods which improve the cooling time of the SMAs is warranted, particularly in prosthetic actuation applications. Forced cooling can be implemented using a variety of techniques including conduction (heat sinking [11]), convection (forced air cooling & liquid cooling [12]) and radiation (Peltier cooling [13]). The nature of a prosthetic device dictates that many forced cooling techniques are rendered unsuitable for use.…”

Section: Forced Cooling Of Sma Bundlesmentioning

confidence: 99%

Analysis and Evaluation of the Dynamic Performance of SMA Actuators for Prosthetic Hand Design

O'Toole¹,

McGrath²,

Coyle³

2009

J. of Materi Eng and Perform

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Wet shape memory alloy actuators for active vasculated robotic flesh

Cited by 27 publications

References 13 publications

Tactile Feedback at the Finger Tips for Improved Direct Interaction in Immersive Environments

Tactile Feedback at the Finger Tips for Improved Direct Interaction in Immersive Environments

Coeffecient of Underactuated Mechanism (CoUAM): Novel Approach for Underactuated Mechanism of Myoelectric Hand Prosthesis

Analysis and Evaluation of the Dynamic Performance of SMA Actuators for Prosthetic Hand Design

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