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Srivastava R, Alsamhi SH, Murray N, Devine D. Shape Memory Alloy-Based Wearables: A Review, and Conceptual Frameworks on HCI and HRI in Industry 4.0. SENSORS (BASEL, SWITZERLAND) 2022; 22:s22186802. [PMID: 36146151 PMCID: PMC9504003 DOI: 10.3390/s22186802] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/18/2022] [Revised: 08/22/2022] [Accepted: 08/25/2022] [Indexed: 05/10/2023]
Abstract
Ever since its discovery, the applications of Shape Memory Alloys (SMA) can be found across a range of application domains, from structural design to medical technology. This is based upon the unique and inherent characteristics such as thermal Shape Memory Effect (SME) and Superelasticity (or Pseudoelasticity). While thermal SME is used for shape morphing applications wherein temperature change can govern the shape and dimension of the SMA, Superelasticity allows the alloy to withstand a comparatively very high magnitude of loads without undergoing plastic deformation at higher temperatures. These unique properties in wearables have revolutionized the field, and from fabrics to exoskeletons, SMA has found its place in robotics and cobotics. This review article focuses on the most recent research work in the field of SMA-based smart wearables paired with robotic applications for human-robot interaction. The literature is categorized based on SMA property incorporated and on actuator or sensor-based concept. Further, use-cases or conceptual frameworks for SMA fiber in fabric for 'Smart Jacket' and SMA springs in the shoe soles for 'Smart Shoes' are proposed. The conceptual frameworks are built upon existing technologies; however, their utility in a smart factory concept is emphasized, and algorithms to achieve the same are proposed. The integration of the two concepts with the Industrial Internet of Things (IIoT) is discussed, specifically regarding minimizing hazards for the worker/user in Industry 5.0. The article aims to propel a discussion regarding the multi-faceted applications of SMAs in human-robot interaction and Industry 5.0. Furthermore, the challenges and the limitations of the smart alloy and the technological barriers restricting the growth of SMA applications in the field of smart wearables are observed and elaborated.
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Affiliation(s)
- Rupal Srivastava
- Confirm Center for Smart Manufacturing, Science Foundation Ireland, V94 C928 Limerick, Ireland
- PRISM Research Institute, Technological University of the Shannon, Midlands Midwest, Athlone, N37 HD68 Co. Westmeath, Ireland
- Correspondence:
| | - Saeed Hamood Alsamhi
- Confirm Center for Smart Manufacturing, Science Foundation Ireland, V94 C928 Limerick, Ireland
- Department of Electrical Engineering, Faculty of Engineering, IBB University, Ibb 70270, Yemen
| | - Niall Murray
- Department of Computer and Software Engineering, Technological University of the Shannon, Midlands Midwest, Athlone, N37 HD68 Co. Westmeath, Ireland
| | - Declan Devine
- PRISM Research Institute, Technological University of the Shannon, Midlands Midwest, Athlone, N37 HD68 Co. Westmeath, Ireland
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Abstract
Soft robotics is becoming an emerging solution to many of the problems in robotics, such as weight, cost and human interaction. In order to overcome such problems, bio-inspired designs have introduced new actuators, links and architectures. However, the complexity of the required models for control has increased dramatically and geometrical model approaches, widely used to model rigid dynamics, are not enough to model these new hardware types. In this paper, different linear and non-linear models will be used to model a soft neck consisting of a central soft link actuated by three motor-driven tendons. By combining the force on the different tendons, the neck is able to perform a motion similar to that of a human neck. In order to simplify the modeling, first a system input–output redefinition is proposed, considering the neck pitch and roll angles as outputs and the tendon lengths as inputs. Later, two identification strategies are selected and adapted to our case: set membership, a data-driven, nonlinear and non-parametric identification strategy which needs no input redefinition; and Recursive least-squares (RLS), a widely recognized identification technique. The first method offers the possibility of modeling complex dynamics without specific knowledge of its mathematical representation. The selection of this method was done considering its possible extension to more complex dynamics and the fact that its impact in soft robotics is yet to be studied according to the current literature. On the other hand, RLS shows the implication of using a parametric and linear identification in a nonlinear plant, and also helps to evaluate the degree of nonlinearity of the system by comparing the different performances. In addition to these methods, a neural network identification is used for comparison purposes. The obtained results validate the modeling approaches proposed.
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Efficiency Analysis of SMA-Based Actuators: Possibilities of Configuration According to the Application. ACTUATORS 2021. [DOI: 10.3390/act10030063] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Shape memory alloy (SMA) actuators have recently demonstrated their potential for various applications in fields such as robotics, medicine, aerospace, and automotive. Its features, such as low weight and high force, simplicity, noiseless operation, and low cost compared with other conventional actuator, are only a few advantages of this actuator, which is receiving increasing interest among researchers. However, the use of these actuators is still limited by some of their characteristics: high position error in the cooling stage when the actuator works at frequencies that exceed the necessary cooling time and high electrical energy consumption. Different actuator configurations can help minimize these disadvantages through modifying the length, the number of cables, or the sheath used in the actuator, which modify the characteristics of the complete system. In this work, we developed different configurations of SMA actuators and tested their performance in terms of efficiency and the position error in the cooling stage. The findings demonstrate that over-dimensioned actuators are more energetically efficient and present a faster initial form recovery. The multi-wires actuator configuration produce a better response in terms of position but are less energy efficient. These conclusions allow for the selection of the most appropriate configuration based on the requirements of each particular application.
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Dávila-Vilchis JM, Ávila-Vilchis JC, Vilchis-González AH, LAZ-Avilés. Design Criteria of Soft Exogloves for Hand Rehabilitation-Assistance Tasks. Appl Bionics Biomech 2020; 2020:2724783. [PMID: 32802156 PMCID: PMC7416241 DOI: 10.1155/2020/2724783] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/24/2020] [Revised: 07/03/2020] [Accepted: 07/07/2020] [Indexed: 11/17/2022] Open
Abstract
This paper establishes design criteria for soft exogloves (SEG) to be used as rehabilitation or assistance devices. This research consists in identifying, selecting, and grouping SEG features based on the analysis of 91 systems that have been proposed during the last decade. Thus, function, mobility, and usability criteria are defined and explicitly discussed to highlight SEG design guidelines. Additionally, this study provides a detailed description of each system that was analysed including application, functional task, palm design, actuation type, assistance mode, degrees of freedom (DOF), target fingers, motions, material, weight, force, pressure (only for fluids), control strategy, and assessment. Such characteristics have been reported according to specific design methodologies and operating principles. Technological trends are contemplated in this contribution with emphasis on SEG design opportunity areas. In this review, suggestions, limitations, and implications are also discussed in order to enhance future SEG developments aimed at stroke survivors or people with hand disabilities.
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Affiliation(s)
| | - Juan C. Ávila-Vilchis
- Faculty of Engineering, Universidad Autónoma del Estado de México, Toluca 50130, Mexico
| | | | - LAZ-Avilés
- Faculty of Engineering, Universidad Autónoma del Estado de México, Toluca 50130, Mexico
- Cátedras CONACYT, Universidad Autónoma del Estado de México, Toluca 50130, Mexico
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Tang ZQ, Heung HL, Tong KY, Li Z. A Probabilistic Model-Based Online Learning Optimal Control Algorithm for Soft Pneumatic Actuators. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2967293] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Copaci DS, Blanco D, Martin-Clemente A, Moreno L. Flexible shape memory alloy actuators for soft robotics: Modelling and control. INT J ADV ROBOT SYST 2020. [DOI: 10.1177/1729881419886747] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022] Open
Abstract
One of the limitations in the development of really soft robotic devices is the development of soft actuators. In recent years, our research group has developed a new flexible shape memory alloy actuator that provides more freedom of movements and a better integration in wearable robots, especially in soft wearable robots. Shape memory alloy wires present characteristics such as force/weight ratio, low weight, and noiseless actuation, which make them an ideal choice in these types of applications. However, the control strategy must take into account its complex dynamics due to thermal phase transformation. Different control approaches based on complex non-linear models and other model-free control methods have been tested on real systems. Some exoskeleton prototypes have been developed, which demonstrate the utility of this actuator and the advantages offered by these flexible actuators to improve the comfort and adaptability of exoskeletons.
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Affiliation(s)
- Dorin-Sabin Copaci
- Department of Systems Engineering and Automation, Carlos III University of Madrid, Madrid, Spain
| | - Dolores Blanco
- Department of Systems Engineering and Automation, Carlos III University of Madrid, Madrid, Spain
| | | | - Luis Moreno
- Department of Systems Engineering and Automation, Carlos III University of Madrid, Madrid, Spain
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Samper-Escudero JL, Contreras-González AF, Ferre M, Sánchez-Urán MA, Pont-Esteban D. Efficient Multiaxial Shoulder-Motion Tracking Based on Flexible Resistive Sensors Applied to Exosuits. Soft Robot 2020; 7:370-385. [PMID: 31905105 PMCID: PMC7301313 DOI: 10.1089/soro.2019.0040] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/26/2022] Open
Abstract
This article describes the performance of a flexible resistive sensor network to track shoulder motion. This system monitors every gesture of the human shoulder in its range of motion except rotations around the longitudinal axis of the arm. In this regard, the design considers the movement of the glenohumeral, acromioclavicular, sternoclavicular, and scapulothoracic joints. The solution presented in this work considers several sensor configurations and compares its performance with a set of inertial measurement units (IMUs). These devices have been put together in a shoulder suit with Optitrack visual markers in order to be used as pose ground truth. Optimal configurations of flexible resistive sensors, in terms of accuracy requirements and number of sensors, have been obtained by applying principal component analysis techniques. The data provided by each configuration are then mapped onto the shoulder pose by using neural network algorithms. According to the results shown in this article, a set of flexible resistive sensors can be an adequate alternative to IMUs for multiaxial shoulder pose tracking in open spaces. Furthermore, the system presented can be easily embedded in fabric or wearable devices without obstructing the user's motion.
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Affiliation(s)
- J Luis Samper-Escudero
- Centre for Automation and Robotics (CAR) UPM - CSIC, Universidad Politécnica de Madrid, Madrid, Spain
| | - Aldo F Contreras-González
- Centre for Automation and Robotics (CAR) UPM - CSIC, Universidad Politécnica de Madrid, Madrid, Spain
| | - Manuel Ferre
- Centre for Automation and Robotics (CAR) UPM - CSIC, Universidad Politécnica de Madrid, Madrid, Spain
| | - Miguel A Sánchez-Urán
- Centre for Automation and Robotics (CAR) UPM - CSIC, Universidad Politécnica de Madrid, Madrid, Spain
| | - David Pont-Esteban
- Centre for Automation and Robotics (CAR) UPM - CSIC, Universidad Politécnica de Madrid, Madrid, Spain
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