B:Ionic Glove: A Soft Smart Wearable Sensory Feedback Device for Upper Limb Robotic Prostheses

Simons, Melanie F.; Digumarti, Krishna Manaswi; Le, Nguyen Hao; Chen, Hsing‐Yu; Carreira, Sara Correia; Zaghloul, Nouf S. S.; Diteesawat, Richard Suphapol; Garrad, Martin; Conn, Andrew T.; Kent, Christopher; Rossiter, Jonathan

doi:10.1109/lra.2021.3064269

Cited by 30 publications

(13 citation statements)

References 23 publications

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“…As summarized in Table S1, Supporting Information, [49][50][51][52][53][54][55][56][57] the WHAF is the first developed SMA-based fabric-type haptic interface that can be directly worn on body and generate both tactile and kinesthetic feedback for delivering diverse information to users. Surely, SMA used to fabricate the WHAF has many advantages when used as haptics, but there can be room for improvements to outstand as the textile-based wearable haptic interface.…”

Section: Discussionmentioning

confidence: 99%

Easy‐To‐Wear Auxetic SMA Knot‐Architecture for Spatiotemporal and Multimodal Haptic Feedbacks

Oh,

Song,

Mahato

et al. 2023

Advanced Materials

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Wearable haptic interfaces prioritize user comfort, but also value the ability to provide diverse feedback patterns for immersive interactions with the virtual or augmented reality. Here, to provide both comfort and diverse tactile feedback, the easy‐to‐wear and multimodal wearable haptic auxetic fabric (WHAF) is prepared by knotting shape memory alloy (SMA) wires into an auxetic‐structured fabric. This unique meta‐design allows the WHAF to completely expand and contract in 3D, providing superior size‐fitting and shape‐fitting capabilities. Additionally, a micro‐scale thin layer of Parylene is coated on the surface to create electrically separated zones within the WHAF, featuring zone‐specified actuation for conveying diverse spatiotemporal information to users with using the WHAF alone. Depending on the body part it is worn on, the WHAF conveys either cutaneous or kinesthetic feedback, thus, working as a multimodal wearable haptic interface. As a result, when worn on the forearm, the WHAF intuitively provided spatiotemporal information to users during hands‐free navigation and teleoperation in virtual reality, and when worn on the elbow, the WHAF guided users to reach the desired elbow flexion, like a personal exercise advisor.This article is protected by copyright. All rights reserved

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Section: Discussionmentioning

confidence: 99%

Easy‐To‐Wear Auxetic SMA Knot‐Architecture for Spatiotemporal and Multimodal Haptic Feedbacks

Oh,

Song,

Mahato

et al. 2023

Advanced Materials

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“…Bioinspired composite fingers used SMA wires as self-locking joints to perform long-time and high-load grasping tasks with low power consumption as proposed in [112]. An Ionic glove, wearable over a robotic hand, was developed in [113] which contains sensing, computation, and actuation onboard use shape memory alloy (SMA) actuators integrated into an armband to gently squeeze the user's arm when pressure is sensed in novel electro-fluid. The types of literature that reported or designed and developed SMA-based actuator-based driving mechanisms are presented in Table 3 which displays the control handle and the parameters that are measured for the particular application.…”

Section: Artificial Musclementioning

confidence: 99%

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Ruth

Sohn

Kaliaperumal

et al. 2022

Sensors

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This paper mainly focuses on various types of robots driven or actuated by shape memory alloy (SMA) element in the last decade which has created the potential functionality of SMA in robotics technology, that is classified and discussed. The wide spectrum of increasing use of SMA in the development of robotic systems is due to the increase in the knowledge of handling its functional characteristics such as large actuating force, shape memory effect, and super-elasticity features. These inherent characteristics of SMA can make robotic systems small, flexible, and soft with multi-functions to exhibit different types of moving mechanisms. This article comprehensively investigates three subsections on soft and flexible robots, driving or activating mechanisms, and artificial muscles. Each section provides an insight into literature arranged in chronological order and each piece of literature will be presented with details on its configuration, control, and application.

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“…Remark 2. It can be seen from Lemma 1 that vector φ k contains all dynamic characteristics in the nonlinear system (1). The key of the goal is to adopt an effective method to estimate φ k in real time.…”

Section: Sma Actuator Modelmentioning

confidence: 99%

“…The shape memory alloy (SMA) actuators are advanced intelligent actuators of large power-to-mass ratio, lightweight, noiselessness, and they have great application value in the fields of biomedicine, 1,2 biomimetic robots, 3,4 and Micro-Electro-Mechanical System (MEMS). 5,6 Shape memory alloy 7 has a shape memory effect that can be restored from a deformed state to its original shape through the transition between different phases, that is, high-temperature austenite phase and lower-temperature martensite phase, which depend on temperature either by external or internal heating (Joule heating).…”

Section: Introductionmentioning

confidence: 99%

Data-driven model-free adaptive fractional-order sliding mode control for the SMA actuator with prescribed performance

Liu

Hao

Liu

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a novel data-driven model-free adaptive fractional-order sliding mode controller with prescribed performance is proposed for the shape memory alloy (SMA) actuator. Due to the strong asymmetric saturated hysteresis nonlinear characteristics of the SMA actuators, it is not easy to establish an accurate model and develop an effective controller. Therefore, we present a controller without using the model of the SMA actuators. In other words, the proposed controller depends merely on the input/output (I/O) data of the SMA actuators. To obtain the reasonable compensation for hysteresis, enhance the noise robustness of the controller, and reduce the chattering, a fractional-order sliding mode controller with memory characteristics is employed to improve the performance of the controller. In addition, the prescribed performance control (PPC) strategy is introduced in our work to guarantee the tracking errors converge to a sufficiently small boundary and the convergence rate is not less than a predetermined value which are significant and considerable in practical engineering applications of the SMA actuator. Finally, experiments are carried out, and results reveal the effectiveness and success of the proposed controller. Comparisons with the classical Proportional Integral Differential (PID), model-free adaptive control (MFAC), and model-free adaptive sliding mode control (MFAC-SMC) are also performed.

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B:Ionic Glove: A Soft Smart Wearable Sensory Feedback Device for Upper Limb Robotic Prostheses

Cited by 30 publications

References 23 publications

Easy‐To‐Wear Auxetic SMA Knot‐Architecture for Spatiotemporal and Multimodal Haptic Feedbacks

Easy‐To‐Wear Auxetic SMA Knot‐Architecture for Spatiotemporal and Multimodal Haptic Feedbacks

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Data-driven model-free adaptive fractional-order sliding mode control for the SMA actuator with prescribed performance

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