ArticleBiomimetics (Basel, Switzerland)2024
Design and Position Control of a Bionic Joint Actuated by Shape Memory Alloy Wires.
Article in Biomimetics (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed, 8 citations in OpenAlex.
- Wire-form shape memory alloy actuators: modeling, design, and control.Microsystems & nanoengineering · 2026Review
- Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy Wires.Biomimetics (Basel, Switzerland) · 2025Article
- Sensor-Less Control of Mirror Manipulator Using Shape Memory Polyimide Composite Actuator: Experimental Work.Sensors (Basel, Switzerland) · 2024Article
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Authors and funding
4 authors at 1 institution in 1 country.
Funding
Abstract
Bionic joints are crucial for robotic motion and are a hot topic in robotics research. Among various actuators for joints, shape memory alloys (SMAs) have attracted significant interest due to their similarity to natural muscles. SMA exhibits the shape memory effect (SME) based on martensite-to-austenite transformation and its inverse, which allows for force and displacement output through low-voltage heating. However, one of the main challenges with SMA is its limited axial stroke. In this article, a bionic joint based on SMA wires and a differential pulley set structure was proposed. The axial stroke of the SMA wires was converted into rotational motion by the stroke amplification of the differential pulley set, enabling the joint to rotate by a sufficient angle. We modeled the bionic joint and designed a proportional-integral (PI) controller. We demonstrated that the bionic joint exhibited good position control performance, achieving a rotation angle range of -30° to 30°. The proposed bionic joint, utilizing SMA wires and a differential pulley set, offers an innovative solution for enhancing the range of motion in SMA actuated bionic joints.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.