Shape Memory Alloys as Linear Drives in Robot Hand Actuation

The applicability of shape memory alloy as an actuator for robotic hands is tested. A parallel arrangement of SMA wires along the forearm is implemented into a hand model after consideration of different designs. The activation of the SMA is achieved using a joule heating approach. The arrangement is tested for its controllability using open and closed loop control. An adaptive PID controller shows best results for the full range of motion.