Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators
<p>Shape memory alloy (SMA) is a kind of active deformation material with a self-sensing and driving ability. It is very similar to the performance of human muscles, and through temperature changes to produce phase changes to output force and displacement, it has the ability to restore the ini...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2023-03-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/14/159/2023/ms-14-159-2023.pdf |
| _version_ | 1797859251338608640 |
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| author | Q. Xie Q. Xie Q. Meng Q. Meng W. Yu W. Yu R. Xu Z. Wu X. Wang H. Yu H. Yu |
| author_facet | Q. Xie Q. Xie Q. Meng Q. Meng W. Yu W. Yu R. Xu Z. Wu X. Wang H. Yu H. Yu |
| author_sort | Q. Xie |
| collection | DOAJ |
| description | <p>Shape memory alloy (SMA) is a kind of active deformation
material with a self-sensing and driving ability. It is very similar to the
performance of human muscles, and through temperature changes to produce phase
changes to output force and displacement, it has the ability to restore the
initial shape and size. The combination of SMA and wearable robotic
technology has the advantages of being light weight, energy-saving, and having great
human–exoskeleton interaction. However, the existing flexible exoskeletons
driven by SMA are only designed with bionic primary muscles, ignoring the
role of antagonistic muscles. This study presents a novel soft bionic elbow
exoskeleton based on SMA spring actuators (Sobee-SMA). The exoskeleton
adopts a bionic design, combining active deformation material SMA and a high-elastic-material rubber band to simulate the contraction and relaxation of elbow skeletal muscles. Through a pulse width modulation (PWM) experiment, the driving voltage
is selected as 12 V, the PWM duty cycle is 90 % during heating, and the
PWM duty cycle is 18 % during heat preservation. In a relaxed state of
healthy subjects, the range of motion of the elbow is about 0–80<span class="inline-formula"><sup>∘</sup></span>, and the maximum temperature is about 60–70 <span class="inline-formula"><sup>∘</sup></span>C. During the
circular movement of the elbow, the maximum temperature can be maintained
within the SMA operating temperature without a high temperature. In
conclusion, the exoskeleton provides elbow-assisted motion and ensures the
safety of the heating process.</p> |
| first_indexed | 2024-04-09T21:26:29Z |
| format | Article |
| id | doaj.art-e3ebb9effff14dac83077a852fd9c777 |
| institution | Directory Open Access Journal |
| issn | 2191-9151 2191-916X |
| language | English |
| last_indexed | 2024-04-09T21:26:29Z |
| publishDate | 2023-03-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | Mechanical Sciences |
| spelling | doaj.art-e3ebb9effff14dac83077a852fd9c7772023-03-27T13:31:06ZengCopernicus PublicationsMechanical Sciences2191-91512191-916X2023-03-011415917010.5194/ms-14-159-2023Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuatorsQ. Xie0Q. Xie1Q. Meng2Q. Meng3W. Yu4W. Yu5R. Xu6Z. Wu7X. Wang8H. Yu9H. Yu10Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, ChinaDepartment of Medical Engineering, Graduate School of Science and Engineering, Chiba University, Chiba, JapanInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai, ChinaDepartment of Medical Engineering, Graduate School of Science and Engineering, Chiba University, Chiba, JapanCenter for Frontier Medical Engineering, Chiba University, Chiba, JapanInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai, China<p>Shape memory alloy (SMA) is a kind of active deformation material with a self-sensing and driving ability. It is very similar to the performance of human muscles, and through temperature changes to produce phase changes to output force and displacement, it has the ability to restore the initial shape and size. The combination of SMA and wearable robotic technology has the advantages of being light weight, energy-saving, and having great human–exoskeleton interaction. However, the existing flexible exoskeletons driven by SMA are only designed with bionic primary muscles, ignoring the role of antagonistic muscles. This study presents a novel soft bionic elbow exoskeleton based on SMA spring actuators (Sobee-SMA). The exoskeleton adopts a bionic design, combining active deformation material SMA and a high-elastic-material rubber band to simulate the contraction and relaxation of elbow skeletal muscles. Through a pulse width modulation (PWM) experiment, the driving voltage is selected as 12 V, the PWM duty cycle is 90 % during heating, and the PWM duty cycle is 18 % during heat preservation. In a relaxed state of healthy subjects, the range of motion of the elbow is about 0–80<span class="inline-formula"><sup>∘</sup></span>, and the maximum temperature is about 60–70 <span class="inline-formula"><sup>∘</sup></span>C. During the circular movement of the elbow, the maximum temperature can be maintained within the SMA operating temperature without a high temperature. In conclusion, the exoskeleton provides elbow-assisted motion and ensures the safety of the heating process.</p>https://ms.copernicus.org/articles/14/159/2023/ms-14-159-2023.pdf |
| spellingShingle | Q. Xie Q. Xie Q. Meng Q. Meng W. Yu W. Yu R. Xu Z. Wu X. Wang H. Yu H. Yu Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators Mechanical Sciences |
| title | Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators |
| title_full | Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators |
| title_fullStr | Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators |
| title_full_unstemmed | Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators |
| title_short | Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators |
| title_sort | design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators |
| url | https://ms.copernicus.org/articles/14/159/2023/ms-14-159-2023.pdf |
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