Surgical robotic design is challenging mostly because of the restricted working space of the platform necessitating miniaturized actuators and sensors. Compliance is a fundamental requirement of an actuator design for safe atraumatic clinical interactions of the robot with organs and tissues. In the present paper, the authors describe a variable impedance miniaturised rotary actuator (VIMRA) using shape memory alloy (SMA) wires in antagonist configuration, to achieve a high force to weight ration. The two SMA wires are connected to a pulley providing two forces, which can be independently controlled to adjust the joint stiffness.
|Title of host publication||Proceedings Actuator 2016|
|Place of Publication||Germany|
|Publisher||Messe Bremen-HVG Hanseatische Veransaltungs-GMBH|
|Number of pages||4|
|Publication status||Published - 13 Jun 2016|
- Smart Materials
- Variable Stiffness Actuator