Anthropomorphic finger antagonistically actuated by SMA plates

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dc.contributor.authorEngeberg, Erik D.
dc.contributor.authorDilibal, Savaş
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.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
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.
dc.description.sponsorshipNational Science Foundation [1265145]; Div Of Industrial Innovation & Partnersh; Directorate For Engineering [1265145] Funding Source: National Science Foundation
dc.identifier.doi10.1088/1748-3190/10/5/056002
dc.identifier.issn1748-3182
dc.identifier.issn1748-3190
dc.identifier.issue5
dc.identifier.pmid26292164
dc.identifier.scopus2-s2.0-84944769147
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1088/1748-3190/10/5/056002
dc.identifier.urihttps://hdl.handle.net/11501/1263
dc.identifier.volume10
dc.identifier.wosWOS:000363543700011
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.institutionauthorDilibal, Savaş
dc.institutionauthorid0000-0003-4777-7995
dc.language.isoen
dc.publisherIOP Publishing Ltd
dc.relation.ispartofBioinspiration & Biomimetics
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectShape Memory Alloy
dc.subjectNİTİ
dc.subjectRobotic Finger
dc.subjectGrasp
dc.subjectDistributed Parameter Systems
dc.titleAnthropomorphic finger antagonistically actuated by SMA plates
dc.typeArticle

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