A simple and robust position controller is proposed for a small planar threedegree-of-freedom robot arm actuated by two shape memory alloy (SMA) actuators and a servomotor. A simple model of the robot is used for controller development. The model combines robot kinematics and dynamics with crude models of SMA wire heat convection, constitutive law, and phase transformation. It is then used to e...

Current treatments for gait pathologies associated with neuromuscular disorders may employ a passive, rigid brace. While these provide certain benefits, they can also cause muscle atrophy. In this study, we examined NiTi shape memory alloy (SMA) wires that were annealed into springs to develop an active, soft orthotic (ASO) for the knee. Actively controlled SMA springs may provide variable assi...

In this paper we present algorithms, devices, simulations, and experiments concerning a robot that locomotes using novel compliant, sheet-based, shape memory alloy actuators. Specifically, we describe the theory and practical implementation of a provably correct algorithm capable of generating locomotion gaits in closed-loop linkages. We implement this algorithm in a distributed fashion on the ...

Shape memory alloy (SMA) actuators have recently demonstrated their potential for various applications in fields such as robotics, medicine, aerospace, and automotive. Its features, low weight high force, simplicity, noiseless operation, cost compared with other conventional actuator, are only a few advantages of this which is receiving increasing interest among researchers. However, the use th...

The paper represents the second part of a study related to the development of an actuators control system for a morphing wing application, and describes the experimental validation of the control designed in the first part. After a short presentation of the finally adopted control architecture, the physical implementation of the control is done. To implement the controller on the physical model...

The paper presents a control strategy for a hyper redundant micromanipulator that has the particularity to have either a) binary joints: only a small finite number of position are allowed within min and max bounds and b) continuous joints: the joint can move continuously within its min and max bounds. The problem optimization is double: a)solve inverse kinematics for this kind of system and b) ...

The robotic gripper is the end-effector of a robot system which is usually installed on a robot arm [1]. Since the gripper is the executor unit of a robot, it plays an important role in the application of robots. Technologies used in the grippers have been developed over the years for consumer products and specialized applications such as electronics, fields related to medicine and biology like...

This paper comprehensively reviews effective control applications using shape memory alloy (SMA) actuators. Among many applications, this focuses on the vibration and stiffness of flexible structures in aerospace engineering field. In structures, three different methods are introduced discussed, including their merits demerits. addition, several strategies, such as neuro-fuzzy controller, inves...