Towards independent SMA actuators: A novel analog two-state control system for flexible robots

摘要

The soft robotics field offers a large variety of actuators and robots, complex structures and designs able to behave in a required way, offering speed and resistance and at the same time reducing the contact damage chance. The control of such structures using mathematical methods requires complex methods which evolved over time in the form of predictive control and even neural networks and genetic algorithms. The current paper presents ongoing research that can be found at the intersection of meta-materials and sensor technology. It approaches a simpler method of controlling a flexible actuator based on a shape memory alloy, the regulator being a two-state switch controller steered by a pressure force sensor. We propose a complete analogical electrical structure and analyze the performance of the outcome, focusing on time response. The present work also contains a brief description of a mechanical design proposal able to optimize the impact of the shape memory alloy used, in order to obtain an amplified actuation.