Shape Memory Alloy Actuators in a Simple Force-Reflecting Teleoperator.

Abstract

A one-degree-of-freedom prototype was constructed to investigate the potential of shape memory alloy (SMA) wires as actuators in force-feedback teleoperated systems. One possible application would be in force-reflecting exoskeletons. A simple on-off system controlled the master and slave actuators of the prototype. The prototype serves as a proof-of-concept model and a foundation for a more sophisticated system with microprocessor-controlled feedback and pulse width modulation (PWM) power sources. Additional experimentation provided data on SMA wire cooling times in air, in a water/glycol mix, and in distilled water. An attempt to use infrared (IR) temperature measurement to improve power control (and thus reduce response time) was not successful.

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Document Details

Document Type
Technical Report
Publication Date
Jul 01, 1992
Accession Number
ADA289501

Entities

People

  • Christopher J. Hasser
  • Edgar G. Munday

Organizations

  • Armstrong Laboratory

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Actuators
  • Alloys
  • Control Systems
  • Crystal Structure
  • Detection
  • Detectors
  • Electrical Resistance
  • Feedback
  • Human Supervisory Control
  • Infrared Detection
  • Infrared Detectors
  • Materials
  • Measurement
  • Phase Transformations
  • Shape Memory Alloys
  • Strain Gages
  • Transducers

Fields of Study

  • Physics

Readers

  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Robotics and Automation.