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This paper investigates and realizes the self-sensing capability of shape memory alloy (SMA) actuators. SMA exhibits large stroke, high energy density, and requires low driving voltage. To make SMA more applicable to small scale robotic manipulations, its motion control using accurate self-sensing is necessary. The presented technique builds a self-sensing model by measuring the SMA electrical resistance...
This paper presents the design, fabrication, and control of a rotational manipulator using shape memory alloy (SMA) wire actuated flexures. Monolithic flexure mechanisms have no friction/backlash and are capable of miniaturization. They are well-suited for tasks that required high precision and packed space. To explore flexure shapes beyond traditional notch hinges and leaf springs, we present a general...
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