A variable impedance actuator using shape memory alloy

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    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.
    Original languageEnglish
    Title of host publicationProceedings Actuator 2016
    EditorsHubert Borgmann
    Place of PublicationGermany
    PublisherMesse Bremen-HVG Hanseatische Veransaltungs-GMBH
    Number of pages4
    ISBN (Electronic)9783933339270
    ISBN (Print)9783933339263
    Publication statusPublished - 13 Jun 2016


    • Smart Materials
    • Variable Stiffness Actuator
    • Robotic


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