Shape Memory Alloy (SMA)-Based Microscale Actuators with 60% Deformation Rate and 1.6 kHz Actuation Speed

Shape Memory Alloy (SMA) Actuators: The Role of Material, Form, and Scaling Effects

Shape memory alloys (SMAs) are smart materials that are widely used to create intelligent devices because of their high energy density, actuation strain, and biocompatibility characteristics. Given their unique properties, SMAs are found to have significant potential for implementation in many emerging applications in mobile robots, robotic hands, wearable devices, aerospace/automotive components, and biomedical devices. Here, the state-of-the-art of thermal and magnetic SMA actuators in terms of their constituent materials, form, and scaling effects are summarized, including their surface treatments and functionalities. The motion performance of various SMA architectures (wires, springs, smart soft composites, and knitted/woven actuators) is also analyzed. Based on the assessment, current challenges of SMAs that need to be addressed for their practical application are emphasized. Finally, how to advance SMAs by synergistically considering the effects of material, form, and scale is suggested.

Multiresponsive Microactuator for Ultrafast Submillimeter Robots

Untethered submillimeter microrobots have significant application prospects in environment monitoring, reconnaissance, and biomedicine. However, they are practically limited to their slow movement. Here, an electrical/optical-actuated microactuator is reported and developed into several untethered ultrafast submillimeter robots. Composed of multilayer nanofilms with exquisitely designed patterns and high surface-to-volume ratios, the microrobot exhibits flexible, precise, and rapid response under voltages and lasers, resulting in controllable and ultrafast inchworm-type movement. The proposed design and microfabrication approach allows various improved and distinctive 3D microrobots simultaneously. The motion speed is highly related to the laser frequency and reaches 2.96 mm/s (3.66 body length/s) on the polished wafer surface. Excellent movement adaptability of the robot is also verified on other rough substrates. Moreover, directional locomotion can be realized simply by the bias of the irradiation of the laser spot, and the maximum angular speed reaches 167.3°/s. Benefiting from the bimorph film structure and symmetrical configuration, the microrobot is able to maintain functionalized after being crashed by a payload 67 000 times heavier than its weight, or at the unexpectedly reversed state. These results provide a strategy for 3D microactuators with precise and rapid response, and microrobots with fast movement for delicate tasks in narrow and restrictive scenarios.

Four-Dimensional Printed Shape Memory Metasurface to Memorize Absorption and Reflection Functions

Functional metasurfaces help wireless communication to reach beyond current electromagnetic control device limitations. However, current reconfigurable functional metasurfaces require separate systems for function control. In particular, it is difficult to realize millimeter-wavelength regimes due to the increasing number of active elements with the reduction in unit cell size. This paper proposes a four-dimensional printed memory metasurface to memorize absorption and reflection function in millimeter-wavelength regimes. Thus, metasurfaces with electromagnetic absorption and reflection functions can be realized through mechanical shape memory by memorizing electromagnetic properties using four-dimensional printed structures. The desired electromagnetic performance was experimentally demonstrated and deformation time to memorize the initial structure was measured. The results confirmed that the proposed four-dimensional printed metasurface has potential for considerable contribution to multifunctional wireless devices such as smart electromagnetic wave control systems in reconfigurable intelligent surface, stealth, and wireless sensing systems.

A comparative review of artificial muscles for microsystem applications

Artificial muscles are capable of generating actuation in microsystems with outstanding compliance. Recent years have witnessed a growing academic interest in artificial muscles and their application in many areas, such as soft robotics and biomedical devices. This paper aims to provide a comparative review of recent advances in artificial muscle based on various operating mechanisms. The advantages and limitations of each operating mechanism are analyzed and compared. According to the unique application requirements and electrical and mechanical properties of the muscle types, we suggest suitable artificial muscle mechanisms for specific microsystem applications. Finally, we discuss potential strategies for energy delivery, conversion, and storage to promote the energy autonomy of microrobotic systems at a system level.

Use the Force: Review of High-Rate Actuation of Shape Memory Alloys

Typical shape memory alloy actuators provide a unique combination of large stresses and strains that result in work-per-volume larger by more than two orders of magnitude than all other actuation methods that are based on active materials. High-rate actuation of shape memory alloys can provide improved energy efficiency, and shorter response and total actuation times, along with large travel-per-wire-length, with respect to slow-rate SMA applications. In this article, we review the different aspects of high-rate actuation of shape memory alloy wires in the high-driving-force regime. We briefly survey previous experimental results about the kinetics and thermodynamics of the phase transformation in view of its practical implications. New experimental results, regarding energy efficiency, total actuation time, repeatability, and fatigue, are presented and discussed. The paper provides general design guidelines for obtaining high actuator performance, as well as guidelines for selecting the source of the electric pulse and its parameters. Finally, we construct and solve detailed simulations of actuator response that can serve as accurate design tools.

Micrometer-sized electrically programmable shape-memory actuators for low-power microrobotics

Shape-memory actuators allow machines ranging from robots to medical implants to hold their form without continuous power, a feature especially advantageous for situations where these devices are untethered and power is limited. Although previous work has demonstrated shape-memory actuators using polymers, alloys, and ceramics, the need for micrometer-scale electro-shape-memory actuators remains largely unmet, especially ones that can be driven by standard electronics (~1 volt). Here, we report on a new class of fast, high-curvature, low-voltage, reconfigurable, micrometer-scale shape-memory actuators. They function by the electrochemical oxidation/reduction of a platinum surface, creating a strain in the oxidized layer that causes bending. They bend to the smallest radius of curvature of any electrically controlled microactuator (~500 nanometers), are fast (<100-millisecond operation), and operate inside the electrochemical window of water, avoiding bubble generation associated with oxygen evolution. We demonstrate that these shape-memory actuators can be used to create basic electrically reconfigurable microscale robot elements including actuating surfaces, origami-based three-dimensional shapes, morphing metamaterials, and mechanical memory elements. Our shape-memory actuators have the potential to enable the realization of adaptive microscale structures, bio-implantable devices, and microscopic robots.

Shape Memory Alloys and Polymers for MEMS/NEMS Applications: Review on Recent Findings and Challenges in Design, Preparation, and Characterization

Rapid progress in material science and nanotechnology has led to the development of the shape memory alloys (SMA) and the shape memory polymers (SMP) based functional multilayered structures that, due to their capability to achieve the properties not feasible by most natural materials, have attracted a significant attention from the scientific community. These shape memory materials can sustain large deformations, which can be recovered once the appropriate value of an external stimulus is applied. Moreover, the SMAs and SMPs can be reprogrammed to meet several desired functional properties. As a result, SMAs and SMPs multilayered structures benefit from the unprecedented physical and material properties such as the shape memory effect, superelasticity, large displacement actuation, changeable mechanical properties, and the high energy density. They hold promises in the design of advanced functional micro- and nano-electro-mechanical systems (MEMS/NEMS). In this review, we discuss the recent understanding and progress in the fields of the SMAs and SMPs. Particular attention will be given to the existing challenges, critical issues, limitations, and achievements in the preparation and characterization of the SMPs and NiTi-based SMAs thin films, and their heterostructures for MEMS/NEMS applications including both experimental and computational approaches. Examples of the recent MEMS/NEMS devices utilizing the unique properties of SMAs and SMPs such as micropumps, microsensors or tunable metamaterial resonators are highlighted. In addition, we also introduce the prospective future research directions in the fields of SMAs and SMPs for the nanotechnology applications.

Shape memory alloy tube actuators inherently enable internal fluidic cooling for a robotic finger under force control

This paper presents the design, control and evaluation of a novel robotic finger actuated by shape memory alloy (SMA) tubes which intrinsically afford an internal conduit for fluidic cooling. The SMA tubes are thennomechanically programmed to flex the robotic finger when Joule heated. A superelastic SMA plate provides a spring return motion to extend the finger when cooling liquid is pumped through the internal channel of the SMA tube actuators. The mechanical design and nonlinear force controller are presented for this unique robotic finger. Sinusoidal and step response experiments demonstrate excellent error minimization when operated below the bandwidth which was empirically determined to be 6 rad s-1. Disturbance rejection experiments are also performed to demonstrate the potential to minimize externally applied forces. This method of internal liquid cooling of Joule heated SMA tubes simultaneously increases the system bandwidth and expands the potential uses of SMA actuators for robotic applications. The results show that this novel robotic finger is capable of precise force control and has a high strength to weight ratio. The finger can apply a force of 4.35 N and has a mass of 30 g. Implementing this design into wearable prosthetic devices could enable lightweight, high strength applications previously not achievable.

Materials as Machines

Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walking, crawling, swimming, and flying). Key functional considerations of responsive materials in machine implementations are response time, cyclability (frequency and ruggedness), sizing, payload capacity, amenability to mechanical programming, performance in extreme environments, and autonomy. This review summarizes the material transformation mechanisms, mechanical design, and robotic integration of responsive materials including shape memory alloys (SMAs), piezoelectrics, dielectric elastomer actuators (DEAs), ionic electroactive polymers (IEAPs), pneumatics and hydraulics systems, shape memory polymers (SMPs), hydrogels, and liquid crystalline elastomers (LCEs) and networks (LCNs). Structural and geometrical fabrication of these materials as wires, coils, films, tubes, cones, unimorphs, bimorphs, and printed elements enables differentiated mechanical responses and consistently enables and extends functional use.

Jumping Tensegrity Robot Based on Torsionally Prestrained SMA Springs

This paper introduces the addition of torsional prestrain into the manufacturing process of shape memory alloy (SMA) springs to form torsionally prestrained SMA springs. These springs have a better performance at the same power input for the same loads and same coil dimensions as regular SMA springs. A modified thermoconstitutive model was presented that can predict the behavior of the actuator based on the amount of torsional prestrain added into the manufacturing process, and a simple two-state model is used to predict its actuation stroke. These improved actuators were used in the development of a tensegrity robots capable of fast rolling motions and jumping both vertically and horizontally. This robot is capable of rolling at 0.14 BL/s (body length per second) and can jump up to nearly a full body length.

Millisecond Response of Shape Memory Polymer Nanocomposite Aerogel Powered by Stretchable Graphene Framework

Shape memory polymers (SMPs) change shapes as-designed through altering the chain segment movement by external stimuli, promising wide uses in actuators, sensors, drug delivery, and deployable devices. However, the recovery speed of SMPs is still far slower than the benchmark shape memory alloys (SMAs), originating from their intrinsic poor heat transport and retarded viscoelasticity of polymer chains. In this work, monolithic nanocomposite aerogels composed of bicontinuous graphene and SMP networks are designed to promote the recovery time of SMP composites to a record value of 50 ms, comparable to the SMA case. The integration of a stretchable graphene framework as a fast energy transformation grid with ultrathin polycaprolactone nanofilms (tunable at 2.5-60 nm) enables the rapid phase transition of SMPs under electrical stimulation. The graphene-SMP nanocomposite aerogels, with a density of ∼10 mg cm^-3, exhibit a fast response (175 ± 40 mm s^-1), large deformation (∼100%), and a wide response bandwidth (0.1-20 Hz). The ultrafast response of SMP nanocomposite aerogels confers extensive uses in sensitive fuses, micro-oscillators, artificial muscles, actuators, and soft robotics. The design of bicontinuous ultralight aerogels can be extended to fabricate multifunctional and multiresponsive hybrid materials and devices.

High-temperature shape memory loss in nitinol: a first principles study

We have performed first-principles calculations to investigate the possibility of shape memory loss in a member of the binary smart alloy family - NiTi. A detailed analysis of the transition kinetics and dynamical pathway reveals the possibility of the B19' phase of NiTi losing its shape memory when subjected to high stress conditions and is heated above a critical temperature, Tc. The B19' phase is predicted to transform to P1[combining macron]-NiTi, which is also predicted to be dynamically stable and temperature-quench recoverable. It is found that the B2(B33) → B19' transition is dominated by the β shearing mode with pronounced distortion in the (001) planes and significant volume reduction. Furthermore, the B19' → P1[combining macron] transition is dominated by the γ shearing mode with pronounced distortion in the (010) planes and slight volume expansion. The cumulative effect of both processes activates the lowering and eventual breaking of symmetry in the precursor phases and drives the permanent deformation and shape memory loss. We further show that the P1[combining macron]-NiTi structure is stabilized (over B19' structure) by kinetics. The findings of this study will stimulate further studies on how to retain and improve the shape memory feature in NiTi and other binary smart alloys to prevent property failure when used in the fabrication of devices operated in the high temperature and pressure regime.