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Manfredi, Luigi
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Publications (7/7 displayed)
- 2023Editorial
- 2022Future Trendscitations
- 2018Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wirescitations
- 2017Low power consumption mini rotary actuator with SMA wirescitations
- 2016Analysis of performance and energy efficiency of thin shape memory alloy wire-based actuators
- 2016A variable impedance actuator using shape memory alloy
- 2015Complaint actuator
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document
A variable impedance actuator using shape memory alloy
Abstract
Surgical robotic design is challenging mostly because of the restricted working space of the platform necessitating miniaturized actuators and sensors. Compliance is a fundamental requirement of an actuator design for safe atraumatic clinical interactions of the robot with organs and tissues. In the present paper, the authors describe a variable impedance miniaturised rotary actuator (VIMRA) using shape memory alloy (SMA) wires in antagonist configuration, to achieve a high force to weight ration. The two SMA wires are connected to a pulley providing two forces, which can be independently controlled to adjust the joint stiffness.