Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope

Ikuta, Koji; Tsukamoto, Masahiro; Hirose, Shigeo

doi:10.1109/robot.1988.12085

Cited by 285 publications

(175 citation statements)

References 4 publications

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“…This causes a phase-related change in resistance as an SMA element is heated or cooled. This phenomenon is well known, and has been used before as a means of estimating the martensite ratio for the purpose of servoing the phase transition directly [5]. Figure 1 shows a (simplified) plot of resistance versus temperature that would be typical of an alloy like nitinol.…”

Section: Principle Of Operationmentioning

confidence: 99%

Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating

Featherstone

Teh

2006

Springer Tracts in Advanced Robotics

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Abstract. This paper describes a method for improving the speed of actuators based on shape memory alloys (SMA) by increasing the rate at which an SMA element can safely be heated. The method consists of measuring the electrical resistance of an SMA element, calculating a maximum safe heating current as a function of measured resistance, and ensuring that the actual heating current does not exceed this maximum value. In effect, resistance is being used as a form of temperature measurement, and the maximum safe heating current is designed to prevent overheating. This method has been incorporated into a two-stage relay controller that controls the motion of a pantograph robot actuated by two antagonistic pairs of SMA wires. Experimental results show a substantial increase in the maximum velocity attainable by this robot, without any change in the cooling regime, purely as a result of faster heating.

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Section: Principle Of Operationmentioning

confidence: 99%

Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating

Featherstone

Teh

2006

Springer Tracts in Advanced Robotics

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“…The detection of inner electrical resistance allows to regulate the actuator movement (Ikuta et al, 1988). The method consists in measuring the electrical resistance of an SMA element (Teh, 2008), calculating a maximum safe heating current as a function of measured resistance, and ensuring that the actual heating current does not exceed this maximum value.…”

Section: Sma Controlmentioning

confidence: 99%

Sma Control for Bio-Mimetic Fish Locomotion

2010

Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics

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Abstract:In this paper, we describe our current work on bio-inspired locomotion systems using smart materials. The aim of this work is to investigate alternative actuation mechanisms based on smart materials, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot is being developed whose movements are generated using such materials, concretely Shape Memory Alloys. This paper focuses on the actuators control in order to generate the desired motion patterns.

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“…Commercial devices used in laparoscopic procedures, such as Intuitive Surgical's daVinci system, have dexterous wrists and a range of end effectors that can pass through small ports (~1 cm) and work inside the body with reduced trauma to patients (www.intuitivesurgical.com). Additionally, actuation of tendril-like, high aspect ratio surgical tools has been investigated with various robotic endoscopes (Maeda et al, 1996), (Ikuta, Tsukamoto and Hirose, 1988), (Slatkin, Burdick and Grundfest, 1995). Here, the ability to control not only the tool tip, but also the bending of the device's length is achieved.…”

Section: Minimally Invasive Tendrilmentioning

confidence: 99%

Innovative Robot Archetypes for In-Space Construction and Maintenance

Rehnmark

Ambrose

Kennedy

et al. 2005

AIP Conference Proceedings

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Abstract. The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as selfcontained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts.

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Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope

Cited by 285 publications

References 4 publications

Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating

Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating

Sma Control for Bio-Mimetic Fish Locomotion

Innovative Robot Archetypes for In-Space Construction and Maintenance

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