A Novel Fabric Muscle Based on Shape Memory Alloy Springs
A Novel Fabric Muscle Based on Shape Memory Alloy Springs
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DOI：
10.1089/soro.2018.0107
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发表时间：
2019-11-14
期刊：
影响因子：
7.9
通讯作者：
Park, Cheol Hoon
中科院分区：
文献类型：
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作者：
Park, Seong Jun;Kim, Uikyum;Park, Cheol Hoon
织物肌肉对于柔软、柔顺、安静、具有高收缩性和高力的可穿戴机器人非常重要。本研究提出一种新型的形状记忆合金（SMA）弹簧基织物肌肉（SFM）。SFM是通过捆绑SMA弹簧制造的，其性能已被证明是人造肌肉。SFM产生高收缩性和高力，并且柔软、柔韧和轻，因为它覆盖有用于制造实际衣服的织物。SFM通过热收缩，并且在70 ℃的加热温度下显示50%的收缩应变，同时产生100 N或更高的力。此外，它在无负载下产生67%的最大收缩应变。通过优化内嵌SMA弹簧的串并联连接方式，设计了SFM，使其能够以最佳的电压和电流驱动。我们在这里提出的SFM的设计和制造方法，并通过性能评估验证的SFM作为软致动器的可用性。SFM作为具有简单结构的织物的软致动器，很容易适用于软可穿戴机器人，其可以通过简单地附接到通常的套装来支持肌肉力量。SFM具有柔软的触感，并且重量轻;因此，它具有广泛应用于新概念软可穿戴机器人的潜力，这些机器人可以像平常的衣服一样随时随地舒适地穿着。
Fabric muscle is important for wearable robots that are soft, compliant, and silent with high contractility and high force. This study presents a novel shape memory alloy (SMA) spring-based fabric muscle (SFM). The SFM is manufactured by bundling SMA springs with proven performance as artificial muscle. The SFM generates high contractility and high force, and is soft, flexible, and light because it is covered with fabric used to make actual clothes. The SFM is contracted by heat and shows a contraction strain of 50% at a heating temperature of 70 degrees C while generating 100 N force or higher. Furthermore, it generates a maximum contraction strain of 67% under no load. To drive it with the optimum voltage and current, the SFM is designed by optimizing the serial and parallel connection methods for the embedded SMA springs. We propose herein design and manufacturing methods for the SFM and verify the usability of the SFM as a soft actuator through a performance evaluation. The SFM as a soft actuator with a simple structure-like fabric is easily applicable to soft wearable robots that can support muscle power by simply being attached to usual suits. The SFM has a soft touch, and is lightweight; hence, it has the potential for wide applications to new-concept soft wearable robots that can be comfortably worn anytime and anywhere like usual clothes.