Robot assisted facial expressions with segmented shape memory alloy actuators

On the Desing and Test of a Prototype of Biped Actuated by Shape Memory Alloys

In this paper the design of a biped robot actuated with Shape Memory Alloy (SMA) springs with minimum degrees of freedom is presented. SMA springs are a class of smart materials that are known for their high power to mass and volume ratios. It was shown that utilizing spring type of SMAs have many advantages as large deformation, smooth motion, silent and clean movement compared to ordinary typ...

Shape Memory Alloy and Elastomer Composite MEMS Actuators

A process for fabrication of shape memory alloy MEMS actuators on a elastomeric polymer substrate is described. These actuators are designed for use on innovative soft body robots. Patterned shape memory alloy (nitinol) is sputter deposited on a polyimide mesh structure. The mesh substrate acts as a bias spring to de-twin the shape memory alloy in the martensite phase. Significant portions of t...

Design and comparison of high strain shape memory alloy actuators

A simulator is developed to model and design high strain shape memory alloy (SMA) tension actuators. The simulator may be used predict characteristics of a given actuator, or to design its geometry under speci cations such as force, speed, stroke and size. The accuracy of the model is veri ed experimentally in reference to an existing NiTi shape memory alloy prototype actuator. Having developed...

Shape Memory Alloy actuators in robots and composites

Research and Development of a Biomorphic Robot Driven by Shape Memory Alloys

In this study, we used shape memory alloys as actuators to build a biomorphic robot which can imitate the motion of an earthworm. The robot can be used to explore in a narrow space. Therefore we chose shape memory alloys as actuators. Because of the small deformation of a wire shape memory alloy, spiral shape memory alloys are selected and installed both on the X axis and Y axis (each axis havi...