Flexible shape memory alloy actuators for soft robotics: Modelling and control
Flexible shape memory alloy actuators for soft robotics: Modelling and control
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DOI：
10.1177/1729881419886747
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发表时间：
2020-01-01
影响因子：
2.3
通讯作者：
Moreno, Luis
中科院分区：
文献类型：
--
作者：
Copaci, Dorin-Sabin;Blanco, Dolores;Moreno, Luis
真正的软机器人设备的发展的限制之一是软执行器的发展。近年来，我们的研究小组开发了一种新的柔性形状记忆合金致动器，该致动器在可穿戴机器人中提供了更多的运动自由度和更好的集成度，特别是在软可穿戴机器人中。形状记忆合金丝具有力/重量比、低重量和无噪音驱动等特性，使其成为这些类型应用的理想选择。然而，控制策略必须考虑到其复杂的动态，由于热相变。基于复杂非线性模型的不同控制方法和其他无模型控制方法已经在真实的系统上进行了测试。已经开发了一些外骨骼原型，其展示了该致动器的实用性以及这些柔性致动器提供的改善外骨骼的舒适性和适应性的优点。
One of the limitations in the development of really soft robotic devices is the development of soft actuators. In recent years, our research group has developed a new flexible shape memory alloy actuator that provides more freedom of movements and a better integration in wearable robots, especially in soft wearable robots. Shape memory alloy wires present characteristics such as force/weight ratio, low weight, and noiseless actuation, which make them an ideal choice in these types of applications. However, the control strategy must take into account its complex dynamics due to thermal phase transformation. Different control approaches based on complex non-linear models and other model-free control methods have been tested on real systems. Some exoskeleton prototypes have been developed, which demonstrate the utility of this actuator and the advantages offered by these flexible actuators to improve the comfort and adaptability of exoskeletons.