Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators
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Published:2023-03-27
Issue:1
Volume:14
Page:159-170
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ISSN:2191-916X
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Container-title:Mechanical Sciences
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language:en
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Short-container-title:Mech. Sci.
Author:
Xie QiaolianORCID, Meng QiaolingORCID, Yu Wenwei, Xu Rongna, Wu Zhiyu, Wang XiaomingORCID, Yu Hongliu
Abstract
Abstract. 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∘, and the maximum temperature is about 60–70 ∘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.
Funder
National Key Research and Development Program of China National Natural Science Foundation of China China Scholarship Council
Publisher
Copernicus GmbH
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
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