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State Measurement System for Control of Soft Actuator Made by Prestressed Super Elastic Alloy

[+] Author Affiliations
Yuya Suzuki, Atsushi Sakuma, Taichi Nozawa

Tokyo University of Agriculture and Technology, Koganei-city, Tokyo, Japan

Paper No. IMECE2014-39223, pp. V04BT04A031; 4 pages
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4648-3
  • Copyright © 2014 by ASME


Super elastic alloy (SEA) has the characteristic of two-way deformation by heating and cooling under prestressed condition. The characteristic makes it possible to realize an actuator of flexible, compact, and quiet. Therefore, SEA can be applied to such robots for medical, assist, welfare, automatic door, and so on. However, there are many difficulties in its control as actuator because SEA shows strong non-linear behavior on its deformation process.

In this study, the measurement system of state quantities on the non-linear characteristics of SEA is constructed to control the deformation of it as practical actuator. Here, the actuator made by SEA is heated by electric current. And then, electrical systems are also developed to measure the state quantities of temperature, strain and electric resistivity of SEA during the Joule heating for its mechatronical control. In addition, the measurement of the electric resistivity on the process of heating and cooling is performed by applying pulse voltage for perform stable and accurate measurement even at a low voltage is applied.

Copyright © 2014 by ASME



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