2014 18th International Conference on System Theory, Control and Computing (ICSTCC) 2014
DOI: 10.1109/icstcc.2014.6982409
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Spiking neural network for controlling the artificial muscles of a humanoid robotic arm

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Cited by 15 publications
(9 citation statements)
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“…In spite of all its advantages they are still slow and highly nonlinear systems with Hysteresis problem, which is challenging to perform precise control operation. SMA wires are being used in applications from medical implants like inter-arterial supports [8], [9], dental applications [10], car mirror actuators [11] or SMA based motors [12], and robotic manipulators as arms, hands or robotic fingers [13]- [15] to general purpose actuators [16]- [21].…”
Section: Introductionmentioning
confidence: 99%
“…In spite of all its advantages they are still slow and highly nonlinear systems with Hysteresis problem, which is challenging to perform precise control operation. SMA wires are being used in applications from medical implants like inter-arterial supports [8], [9], dental applications [10], car mirror actuators [11] or SMA based motors [12], and robotic manipulators as arms, hands or robotic fingers [13]- [15] to general purpose actuators [16]- [21].…”
Section: Introductionmentioning
confidence: 99%
“…Different forms of SMA materials can be used for actuation but only the wires-type of SMA actuators will be addressed here in the current article. SMA wires are being used in medical applications [13,12], dental applications [14], automotive devices [19], SMA based motors [17], robotic manipulators [5,10,11] and other general purpose actuators [3,4,8,7,6,9]. On the other hand the design and development of SMA actuators are challenging due to low energy efficiency, slow response, hysteresis type nonlinearity which cannot be ignored and requires customized mechanical design and advanced modelling and control solutions.…”
Section: Introductionmentioning
confidence: 99%
“…Moreover, SMA wires are also useful in robotic manipulators since they allow motion without using larger drives. For instance, the human-like robotic arm developed by Hulea and Caruntu (2014), where a neural network control for artificial muscles was implemented on a robotic arm joint using a SMA wire as actuator. Another example is given by Ko et al (2011), where the authors propose a fuzzy-PID control of an anthropomorphic artificial finger actuated by three antagonistic SMA muscle pairs.…”
Section: Introductionmentioning
confidence: 99%