Tactile feedback control for a gripper driven by SMA springs

Yan, Shaoze; Yang, Tianye; Liu, Xiajie; Wang, Rencheng

doi:10.1063/1.4745607

Cited by 7 publications

(5 citation statements)

References 14 publications

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“…Despite the shape memory actuator advantages (simple structure and high energy density), it is challenging to control the output force. The combination of both types of materials is of great interest for the tactile control of the force feedback of the driven gripper, allowing an accurate grasping control and a rapid response …”

Section: Applicationsmentioning

confidence: 99%

“…The combination of both types of materials is of great interest for the tactile control of the force feedback of the driven gripper, allowing an accurate grasping control and a rapid response. 263 Electrospun PVDF fibers also present potential for actuation, increasing the actuation performance with the introduction of MWCNTs, reaching deformations up to 24 μm under an applied electric field of 4 V•μm −1 (Figure 16). 255 Table 6 summarizes studies concerning the development of electrospun actuators based on PVDF nanofibers.…”

Section: Self-sensing and Shape Memory Bending Actuatorsmentioning

confidence: 99%

See 1 more Smart Citation

Smart and Multifunctional Materials Based on Electroactive Poly(vinylidene fluoride): Recent Advances and Opportunities in Sensors, Actuators, Energy, Environmental, and Biomedical Applications

Costa,

Cardoso,

Martins

et al. 2023

Chem. Rev.

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From scientific and technological points of view, poly(vinylidene fluoride), PVDF, is one of the most exciting polymers due to its overall physicochemical characteristics. This polymer can crystalize into five crystalline phases and can be processed in the form of films, fibers, membranes, and specific microstructures, being the physical properties controllable over a wide range through appropriate chemical modifications. Moreover, PVDF-based materials are characterized by excellent chemical, mechanical, thermal, and radiation resistance, and for their outstanding electroactive properties, including high dielectric, piezoelectric, pyroelectric, and ferroelectric response, being the best among polymer systems and thus noteworthy for an increasing number of technologies. This review summarizes and critically discusses the latest advances in PVDF and its copolymers, composites, and blends, including their main characteristics and processability, together with their tailorability and implementation in areas including sensors, actuators, energy harvesting and storage devices, environmental membranes, microfluidic, tissue engineering, and antimicrobial applications. The main conclusions, challenges and future trends concerning materials and application areas are also presented.

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Section: Applicationsmentioning

confidence: 99%

Section: Self-sensing and Shape Memory Bending Actuatorsmentioning

confidence: 99%

Smart and Multifunctional Materials Based on Electroactive Poly(vinylidene fluoride): Recent Advances and Opportunities in Sensors, Actuators, Energy, Environmental, and Biomedical Applications

Costa,

Cardoso,

Martins

et al. 2023

Chem. Rev.

View full text Add to dashboard Cite

show abstract

“…Case 1. If s(k) / ∈ Φ, two situations should be considered in the following: (24) and (39) one has −2ν(k + 1)…”

Section: Stability Analysismentioning

confidence: 99%

“…Generally, the SMA-based robotic hand can produce movements through the embedded SMA actuator [5,7,16], which can result in the complication of control. Moreover, the SMA-based robotic hand system is subjected to the parameter uncertainties and imprecise models [24,25]. Currently, two control methods are considered to improve the control precision of the SMA-based robotic hand system, namely, applying a neural network (NN) to establish the dynamic model of the robotic hand and designing a controller to reduce nonlinearities of the system.…”

Section: Introductionmentioning

confidence: 99%

Model-Free Tracking Control with Prescribed Performance for a Shape Memory Alloy-Based Robotic Hand

Hao¹,

Xiao²,

Li³

2021

Applied Sciences

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The shape memory alloy (SMA)-based robotic hand has been a new emerging technology with potential applications ranging from life service to surgical treatment, because of the characteristics of SMA, such as high power-to-weight ratio, small volume and low driving voltage. However, due to the complex dynamic model and nonlinear aspects of SMA, it is complicated to control an SMA-based robotic hand. This paper presents a novel model free adaptive control for the SMA-based robotic hand system. By applying the Taylor series expansion method and the differential mean value theorem, the SMA based robotic hand system can be transformed into an equivalent linearization model, which merely depends on measurement data without any information on the system. Combined with prescribed performance control, the novel control method can constrain the tracking error in a preassigned domain. Experiments are conducted on the SMA-based robotic hand system to verify the performance of the presented control method.

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“…Though flexible actuators tend to be less powerful, accurate, and responsive than high-stiffness actuators, their flexibility offers advantages in terms of environmental adaptability. Commonly used soft actuators include ionic polymer-metal composites (IPMC) [15,16], dielectric elastomer actuators (DEA) [16], conducting polymer [17], shape memory actuator (SMA) [18], etc. Although they have characteristics as a soft actuator, there are various advantage and disadvantages.…”

Section: Introductionmentioning

confidence: 99%

A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles

et al. 2019

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With robots becoming closer to humans in recent years, human-friendly robots made of soft materials provide a new line of research interests. We designed and developed a soft robot that can move via self-deformation toward the practical application of monitoring children and the elderly on a daily basis. The robot’s structure was built out of flexible frames, which are bending-type pneumatic artificial muscles (BPAMs). We first provide a description and discussion on the nature of BPAM, followed by static characteristics experiment. Although the BPAM theoretical model shares a similar tendency with the experimental results, the actual BPAMs moved along the depth direction. We then proposed and demonstrated an effective locomotion method for the robot and calculated its locomotion speed by measuring its drive time and movement distance. Our results confirmed the reasonability of the robot’s speed for monitoring children and the elderly. Nevertheless, during the demonstration, some BPAMs were bent sharply by other activated BPAMs as the robot was driving, leaving a little damage on these BPAMs. This will be addressed in our future work.

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Tactile feedback control for a gripper driven by SMA springs

Cited by 7 publications

References 14 publications

Smart and Multifunctional Materials Based on Electroactive Poly(vinylidene fluoride): Recent Advances and Opportunities in Sensors, Actuators, Energy, Environmental, and Biomedical Applications

Smart and Multifunctional Materials Based on Electroactive Poly(vinylidene fluoride): Recent Advances and Opportunities in Sensors, Actuators, Energy, Environmental, and Biomedical Applications

Model-Free Tracking Control with Prescribed Performance for a Shape Memory Alloy-Based Robotic Hand

A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles

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