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Shape Memory Alloy Actuators in a Simple Force-Reflecting Teleoperator.
Final rept. 1 Jun 91-4 Jul 92,
ARMSTRONG LAB WRIGHT-PATTERSON AFB OH CREW SYSTEMS DIRECTORATE
Pagination or Media Count:
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 waterglycol 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.
APPROVED FOR PUBLIC RELEASE