Force and Position Control of a SMA Actuated Ebdiscope

摘要

An active endoscope actuated by Shape Memory Alloy wires and featured with a force sensor has been developed. In this paper we describe the way SMA actuators are designed and controlled at the low level. Dynamic response of SMA antagonist actuators is improve by estimation of the phase material using electrical resistance measurement. Experimentations on endoscope bending control and external force control show good results in terms of precision and robustness.