{"title":"Compact flexible actuator based on a shape memory alloy for shaping surgical instruments","authors":"N. Fischer, Franziska Mathis-Ullrich","doi":"10.1515/auto-2023-0049","DOIUrl":null,"url":null,"abstract":"Abstract Conventional flexible actuators for minimally invasive interventions come with complex and bulky actuation infrastructure. We present a proof-of-concept study of a compact flexible actuator with variable shape change featuring shape memory alloy wire loops in active-antagonist configurations for a bending and S-shape. The actuator was fabricated using heat-treated wire loops. The evaluation using optical marker tracking revealed a mean maximum absolute displacement at the distal tip of 19 mm and a force of 90 mN reached in under 15 s. For control, a closed-loop regime was evaluated with steady-state errors below 2°.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"547 - 553"},"PeriodicalIF":0.7000,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"At-Automatisierungstechnik","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1515/auto-2023-0049","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Abstract Conventional flexible actuators for minimally invasive interventions come with complex and bulky actuation infrastructure. We present a proof-of-concept study of a compact flexible actuator with variable shape change featuring shape memory alloy wire loops in active-antagonist configurations for a bending and S-shape. The actuator was fabricated using heat-treated wire loops. The evaluation using optical marker tracking revealed a mean maximum absolute displacement at the distal tip of 19 mm and a force of 90 mN reached in under 15 s. For control, a closed-loop regime was evaluated with steady-state errors below 2°.
期刊介绍：
Automatisierungstechnik (AUTO) publishes articles covering the entire range of automation technology: development and application of methods, the operating principles, characteristics, and applications of tools and the interrelationships between automation technology and societal developments. The journal includes a tutorial series on "Theory for Users," and a forum for the exchange of viewpoints concerning past, present, and future developments. Automatisierungstechnik is the official organ of GMA (The VDI/VDE Society for Measurement and Automatic Control) and NAMUR (The Process-Industry Interest Group for Automation Technology).
Topics
control engineering
digital measurement systems
cybernetics
robotics
process automation / process engineering
control design
modelling
information processing
man-machine interfaces
networked control systems
complexity management
machine learning
ambient assisted living
automated driving
bio-analysis technology
building automation
factory automation / smart factories
flexible manufacturing systems
functional safety
mechatronic systems.
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