A variable impedance actuator using shape memory alloy

Luigi Manfredi; Florien Velsink; Muhammad Amir Hamza Khan; Alfred Cuschieri

A variable impedance actuator using shape memory alloy

Luigi Manfredi, Florien Velsink, Muhammad Amir Hamza Khan, Alfred Cuschieri

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

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 language	English
Title of host publication	Proceedings Actuator 2016
Editors	Hubert Borgmann
Place of Publication	Germany
Publisher	Messe Bremen-HVG Hanseatische Veransaltungs-GMBH
Pages	167-170
Number of pages	4
ISBN (Electronic)	9783933339270
ISBN (Print)	9783933339263
Publication status	Published - 13 Jun 2016

Keywords

Smart Materials
Variable Stiffness Actuator
Robotic

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Author Accepted ManuscriptAccepted author manuscript, 5.74 MB

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title = "A variable impedance actuator using shape memory alloy",

abstract = "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.",

keywords = "Smart Materials, Variable Stiffness Actuator, Robotic",

author = "Luigi Manfredi and Florien Velsink and Khan, {Muhammad Amir Hamza} and Alfred Cuschieri",

note = "Funding: European Research Council, CARPE project supported by the EU-FP7, Grant Agreement n.665696.",

year = "2016",

month = jun,

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T1 - A variable impedance actuator using shape memory alloy

AU - Manfredi, Luigi

AU - Velsink, Florien

AU - Khan, Muhammad Amir Hamza

AU - Cuschieri, Alfred

N1 - Funding: European Research Council, CARPE project supported by the EU-FP7, Grant Agreement n.665696.

PY - 2016/6/13

Y1 - 2016/6/13

N2 - 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.

AB - 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.

KW - Smart Materials

KW - Variable Stiffness Actuator

KW - Robotic

UR - http://www.actuator.de/proceedings

M3 - Conference contribution

SN - 9783933339263

SP - 167

EP - 170

BT - Proceedings Actuator 2016

A2 - Borgmann, Hubert

PB - Messe Bremen-HVG Hanseatische Veransaltungs-GMBH

CY - Germany

ER -

A variable impedance actuator using shape memory alloy

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Keywords

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