Design and Characterization of a Novel Hybrid Actuator Using Shape Memory Alloy and DC Micromotor for Minimally Invasive Surgery Applications

Kode, V.R.C.; Çavuşoğlu, M. Cenk

doi:10.1109/tmech.2007.901940

Cited by 67 publications

(14 citation statements)

References 19 publications

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“…This has also been done with finger tendon drive systems using SMA wires in series with linear springs [12] or through segmented binary control [13]. SMA actuators have also been used in conjunction with dc motors for hybrid actuation of an artificial finger [14] and a surgical manipulator [15].…”

Section: Introductionmentioning

confidence: 99%

Anthropomorphic finger antagonistically actuated by SMA plates

et al. 2015

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Most robotic applications that contain shape memory alloy (SMA) actuators use the SMA in a linear or spring shape. In contrast, a novel robotic finger was designed in this paper using SMA plates that were thermomechanically trained to take the shape of a flexed human finger when Joule heated. This flexor actuator was placed in parallel with an extensor actuator that was designed to straighten when Joule heated. Thus, alternately heating and cooling the flexor and extensor actuators caused the finger to flex and extend. Three different NiTi based SMA plates were evaluated for their ability to apply forces to a rigid and compliant object. The best of these three SMAs was able to apply a maximum fingertip force of 9.01N on average. A 3D CAD model of a human finger was used to create a solid model for the mold of the finger covering skin. Using a 3D printer, inner and outer molds were fabricated to house the actuators and a position sensor, which were assembled using a multi-stage casting process. Next, a nonlinear antagonistic controller was developed using an outer position control loop with two inner MOSFET current control loops. Sine and square wave tracking experiments demonstrated minimal errors within the operational bounds of the finger. The ability of the finger to recover from unexpected disturbances was also shown along with the frequency response up to 7 rad s(-1). The closed loop bandwidth of the system was 6.4 rad s(-1) when operated intermittently and 1.8 rad s(-1) when operated continuously.

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Section: Introductionmentioning

confidence: 99%

Anthropomorphic finger antagonistically actuated by SMA plates

et al. 2015

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“…The comparisons for all actuators in terms of size, power consumption, force/torque ranges, and scaling possibilities are given in Table 9. Table 9 Comparisons for all actuators in terms of size, power consumption, force/torque ranges, and scaling possibilities with references from 34,153,1,2,30,36,44,49,71,80,89,92,93,106,131,141,149,171,177,188,189,203 <H1> Conclusion This study serves as one of the most comprehensive review on the actuators-driven surgical robots in terms of design, modelling, control problems, and proposed potential future research directions. While there have been multiple developed categories such as cable, flexible fluidic, smart material, and magnetic actuators, every candidate still holds both disadvantages and advantages.…”

Section: Magnetic Actuatormentioning

confidence: 99%

A survey on actuators-driven surgical robots

Nho

Phee

2016

Sensors and Actuators A: Physical

169

107

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“…Then, it is easy to derive the k d2_p and k a2_p by submitting (14) into the pole-zero cancellation design k d2_p ω 1 /k d1_P = K P K T /J t , which is mentioned in the previous. The results are As a result, by properly selecting ω 1 , ω 2 , ζ p and ω np , one can easily compute the weighted gains k d1_p , k d2_p and k a2_p .…”

Section: Wavelet Position-loop Controller Designmentioning

confidence: 99%

Design and implementation of a wavelet speed controller with application to micro‐permanent magnet synchronous motor drives

Wang

Liu

Fan

2013

IET Electric Power Applications

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The study proposes a wavelet controller design for micro-permanent magnet synchronous drive systems. A systematic wavelet control algorithm is proposed to obtain the fast responses, good load disturbance responses and satisfactory tracking responses for time-varying commands. The wavelet control algorithm can be applied for both the speed-loop control system and the position-loop control system. A digital signal processor, TMS 320F28335, is used to execute all control algorithms. As a result, the hardware is very simple. Experimental results validate the simulated waveforms and show the correctness and feasibility of the proposed method.

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Design and Characterization of a Novel Hybrid Actuator Using Shape Memory Alloy and DC Micromotor for Minimally Invasive Surgery Applications

Cited by 67 publications

References 19 publications

Anthropomorphic finger antagonistically actuated by SMA plates

Anthropomorphic finger antagonistically actuated by SMA plates

A survey on actuators-driven surgical robots

Design and implementation of a wavelet speed controller with application to micro‐permanent magnet synchronous motor drives

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