Anthropomorphic finger antagonistically actuated by SMA plates

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dc.authoridDilibal, Savas/0000-0003-4777-7995
dc.authorwosidDilibal, Savas/D-9245-2012
dc.authorwosidDilibal, Savas/Q-3748-2017
dc.contributor.authorEngeberg, Erik D.
dc.contributor.authorDilibal, Savas
dc.contributor.authorVatani, Morteza
dc.contributor.authorChoi, Jae-Won
dc.contributor.authorLavery, John
dc.date.accessioned2024-06-13T20:18:14Z
dc.date.available2024-06-13T20:18:14Z
dc.date.issued2015
dc.departmentİstanbul Gedik Üniversitesien_US
dc.description.abstractMost robotic applications that contain shape memory alloy (SMA) actuators use the SMA in a linear or spring shape. In contrast, a novel robotic finger was designed in this paper using SMA plates that were thermomechanically trained to take the shape of a flexed human finger when Joule heated. This flexor actuator was placed in parallel with an extensor actuator that was designed to straighten when Joule heated. Thus, alternately heating and cooling the flexor and extensor actuators caused the finger to flex and extend. Three different NiTi based SMA plates were evaluated for their ability to apply forces to a rigid and compliant object. The best of these three SMAs was able to apply a maximum fingertip force of 9.01N on average. A 3D CAD model of a human finger was used to create a solid model for the mold of the finger covering skin. Using a 3D printer, inner and outer molds were fabricated to house the actuators and a position sensor, which were assembled using a multi-stage casting process. Next, a nonlinear antagonistic controller was developed using an outer position control loop with two inner MOSFET current control loops. Sine and square wave tracking experiments demonstrated minimal errors within the operational bounds of the finger. The ability of the finger to recover from unexpected disturbances was also shown along with the frequency response up to 7 rad s(-1). The closed loop bandwidth of the system was 6.4 rad s(-1) when operated intermittently and 1.8 rad s(-1) when operated continuously.en_US
dc.description.sponsorshipNational Science Foundation [1265145]; Div Of Industrial Innovation & Partnersh; Directorate For Engineering [1265145] Funding Source: National Science Foundationen_US
dc.description.sponsorshipThis research was supported in part by the National Science Foundation award # 1265145.en_US
dc.identifier.doi10.1088/1748-3190/10/5/056002
dc.identifier.issn1748-3182
dc.identifier.issn1748-3190
dc.identifier.issue5en_US
dc.identifier.pmid26292164en_US
dc.identifier.scopus2-s2.0-84944769147en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.urihttps://doi.org/10.1088/1748-3190/10/5/056002
dc.identifier.urihttps://hdl.handle.net/11501/1263
dc.identifier.volume10en_US
dc.identifier.wosWOS:000363543700011en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakPubMeden_US
dc.language.isoenen_US
dc.publisherIop Publishing Ltden_US
dc.relation.ispartofBioinspiration & Biomimeticsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectShape Memory Alloyen_US
dc.subjectNitien_US
dc.subjectRobotic Fingeren_US
dc.subjectGraspen_US
dc.subjectDistributed Parameter Systemsen_US
dc.subjectShape-Memory Alloyen_US
dc.subjectTracking Controlen_US
dc.subjectDesignen_US
dc.subjectRoboten_US
dc.subjectHanden_US
dc.subjectArchitectureen_US
dc.subjectDrivenen_US
dc.titleAnthropomorphic finger antagonistically actuated by SMA platesen_US
dc.typeArticleen_US

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