Flexible shape memory alloy actuators for soft robotics: Modelling and control

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dc.contributor.author Copaci, Dorin Sabin
dc.contributor.author Blanco Rojas, María Dolores
dc.contributor.author Martín Clemente, Alejandro Iván
dc.contributor.author Moreno Lorente, Luis Enrique
dc.date.accessioned 2022-02-08T10:26:39Z
dc.date.available 2022-02-08T10:26:39Z
dc.date.issued 2020-01-01
dc.identifier.bibliographicCitation Copaci, D. S., Blanco, D., Martin-Clemente, A. & Moreno, L. (2020). Flexible shape memory alloy actuators for soft robotics: Modelling and control. International Journal of Advanced Robotic Systems, 17(1).
dc.identifier.issn 1729-8806
dc.identifier.uri http://hdl.handle.net/10016/34064
dc.description.abstract 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.
dc.format.extent 15
dc.language.iso eng
dc.publisher SAGE
dc.rights © The Author(s) 2020. Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 4.0 License (https://creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages.
dc.rights Atribución 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by/3.0/es/
dc.subject.other SMA materials
dc.subject.other Flexible actuator
dc.subject.other Modelling
dc.subject.other Control
dc.subject.other Soft robotics
dc.subject.other Wearable robots
dc.title Flexible shape memory alloy actuators for soft robotics: Modelling and control
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.1177/1729881419886747
dc.rights.accessRights openAccess
dc.relation.projectID Gobierno de España. DPI2016-75346-R
dc.relation.projectID Comunidad de Madrid. S2018/NMT-4331
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 1
dc.identifier.publicationissue 1
dc.identifier.publicationlastpage 15
dc.identifier.publicationtitle International Journal of Advanced Robotic Systems
dc.identifier.publicationvolume 17
dc.identifier.uxxi AR/0000029171
dc.contributor.funder Comunidad de Madrid
dc.contributor.funder Ministerio de Ciencia e Innovación (España)
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