Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires

Manfredi, Luigi; Cuschieri, Alfred

doi:10.3390/ma11102014

Cited by 15 publications

(10 citation statements)

References 36 publications

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“…Kinetic parameters can be evaluated via the transformations of physical specifications, such as velocity (speed, acceleration, tempo, vibration and frequency of an object's movement), path (movement pattern of transformation, such as smooth/jerky, linear/curved, continuous/intermittent or pattern/random), direction (direction in which the object moves, such as up/down, right/left and forward/backward) and space (determined by measuring the changes of scale, form or Kinesphere) (Rasmussen et al, 2012). The frequently used evaluation methods for SMA actuators are applying heat and analyzing the changes in elongation and tensile strength using a tensile testing machine (Basu and Banerjee, 1997;Manfredi and Cuschieri, 2018).…”

Section: Important Factors Of Shape Memory Alloy (Sma) As Actuatorsmentioning

confidence: 99%

Development of gait assistive clothing-typed soft wearable robot for elderly adults

Koo

Lee

Kim

et al. 2020

IJCST

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PurposeThe purpose of this research was to develop clothing-typed soft wearable robot embedded with textile-based actuators on ankles for elderly adults needing gait assistance.Design/methodology/approachDesign guidelines were developed and they included function (type, targeting area, routing line and anchor points), design (size/fit, fabric/material, fastener, detail, color) and actuator (shape memory alloy type, size, deformation type, integration material, integration technique and evaluation method). Fabric-based actuator, integration methods to fabrics, routing lines and anchoring points were developed based on the guidelines and evaluated. Then, three long socks types and a pants type were designed and prototyped. Routing line position displacement measurement test was conducted with the prototypes. A survey was conducted to investigate satisfaction, likeness and use intention on the design/prototype to modify the designs.FindingsImportant design factors were identified, and design guidelines for clothing-typed soft wearable robots (SWRs) were developed. People satisfied the developed SWR designs and prototypes with mean scores over 4.60.Originality/valueThe results are expected to be helpful for designers and developers of SWRs in the development process, and they will ultimately be beneficial to members of the elderly population who have gait difficulties.

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Section: Important Factors Of Shape Memory Alloy (Sma) As Actuatorsmentioning

confidence: 99%

Development of gait assistive clothing-typed soft wearable robot for elderly adults

Koo

Lee

Kim

et al. 2020

IJCST

View full text Add to dashboard Cite

show abstract

“…Limitation in the mechanical bandwidth has been reported for large applications because of the slow time required to dissipate the accumulated heat. In recent studies, Manfredi et al [26][27][28][29] reported high mechanical bandwidth for the design of a mini actuator with thin SMA wires, 75µm and 100µm in diameter. Legged MRC has been designed by using SMA [30].…”

Section: On-board Locomotionmentioning

confidence: 99%

New Robotic Technologies in Cancer Colon Screening

Manfredi

2019

CCAND

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Colorectal cancer (CRC) is the 3 rd most common cause of cancer death worldwide. Regular screening of the asymptomatic population can drastically reduce the mortality rate. CRC screening includes several proceedings although the gold standard remains optical colonoscopy (OC), which is unpleasant, causes pain and discomfort. New technologies exemplified by capsule endoscopy (CE) constitute alternative painless solutions and despite their limitations, e.g., passive locomotion and absence of on-board instrumentation, are being increasingly used for CRC screening. Research and development centres are investigating novel advanced robotic technologies for diagnostic and therapeutic use. These include wireless communication, active locomotion, sensors, diagnostic, and therapeutic instruments. This review describes the traditional OC procedure and the existing robotic technologies for CRC.

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“…For those applications, the shape memory actuator must be able to generate different strokes besides the two positions "fully activated" and "fully reset" [23][24][25]. Several approaches were investigated using different control schemes to solve this problem [26][27][28][29][30][31]. Further approaches investigate the energy consumption of SMA actuators activated via Joule heating in order to keep SMA actuators attractive for miniaturization [32].…”

Section: Introductionmentioning

confidence: 99%

Development of an Actuator for Translatory Movement by Means of a Detented Switching Shaft Based on a Shape Memory Alloy Wire for Repeatable Mechanical Positioning

et al. 2021

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Actuators based on the shape memory effect have recently become more and more economically important due to the many advantages of shape memory alloys (SMAs), such as their high energy density. SMAs are usually used to control the end/maximum positions, thus the actuators always move between two positions. The repeatable control of intermediate positions has so far proven difficult, because in most cases, external sensors are necessary to determine the length of the SMA element. Additionally control strategies for SMA actuators are rather complex due to the non-linear behavior of this material. The SMA actuator presented here is able to control intermediate positions with repeatable accuracy without the need of a separate control technology. The integrated control unit is based on a mechanical principle using a shaft with a circumference groove. This groove has a height profile that turns the shafts rotation, generated by the SMA, into a translational movement. Therefore, the SMA wire generates a partial stroke at each complete activation, turning the shaft partially. With several activation cycles in a row, the stroke adds up until reaching the maximum. A further activation cycle of the wire resets the actuators stroke to its initial position. Each part of the stroke can, thereby, be controlled precisely and repeatedly within the scope of each complete cycle of the actuator. Based on an integrated ratchet, each stroke of the actuator can hold energy free.

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Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires

Cited by 15 publications

References 36 publications

Development of gait assistive clothing-typed soft wearable robot for elderly adults

Development of gait assistive clothing-typed soft wearable robot for elderly adults

New Robotic Technologies in Cancer Colon Screening

Development of an Actuator for Translatory Movement by Means of a Detented Switching Shaft Based on a Shape Memory Alloy Wire for Repeatable Mechanical Positioning

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