Shape memory alloy with bi-functionality in the master system to control a slave

摘要

Application of a shape memory alloy (SMA) with bi-functionality, acting as a force sensor and as an actuator (sensor + haptics = 'sensaptics') is proposed for the master side of a master - slave system. A 1-DOF master is instrumented with SMA wires to servo a 2-DOF slave. Antagonistic shape memory alloy wires employed in master system performs shared sensing and actuation; the operator's command to control the slave system is sensed by the variation in the differential electrical resistance of SMA and it functions as a haptic device to display the interactive force fed back from the slave to the master. From the haptic information the operator can make decisions and take appropriate action/correction in coordination with the requirement of the slave environment. The laboratory model of SMA based master slave system is designed, developed and evaluated for its performance. The validity of the results proves the concept of shared bi-functionality. (C) 2015 Elsevier B.V. All rights reserved.