NDLI: Wet shape memory alloy actuators for active vasculated robotic flesh

Content Provider	IEEE Xplore Digital Library
Author	Mascaro, S.A. Asada, H.H.
Copyright Year	2003
Description	Author affiliation: Dept. of Mech. Eng., MIT, Cambridge, MA, USA (Mascaro, S.A.; Asada, H.H.)
Abstract	A new type of actuator is presented where shape memory alloy (SMA) wires are embedded within artificial "blood vessels." Fluid flowing through vessels allows the SMA wires to be rapidly cooled by convection, resulting in greater bandwidth than ordinarily possible. Combinations of electric, fluidic, and thermal inputs can be used to control the contraction/extension of the SMA wires within the compliant vessels. These wet vascular SMA actuators can be used as robotic muscle or even embedded in a compliant rubber material to create an active vasculated robotic flesh. This paper begins by proposing a type of biomimetics where robots and machines are imbued with a vasculature or network of blood vessels. The concept of a wet SMA actuator is then introduced as an immediate application of a vasculated robot. A wet SMA actuator is then designed and implemented. Initial prototypes are 3 mm in diameter and are capable of 2% strain at 2 Hz by pulsing 2 A of current and 3 mL/s of water. Reservoirs of hot and cold water are also used to recycle the thermal energy and allow the actuators to exert static force with no electric current. Finally, multiple vascular SMA actuators are imbedded within a 4 mm thick rubber sheet to implement the active vasculated robotic flesh.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	282
Ending Page	287
File Size	435273
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241609
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape memory alloys Actuators Robots Wires Blood vessels Rubber Water conservation Thermal force Bandwidth Fluid flow control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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