Design of a Soft Wrist Exoskeleton Based on SMA Actuator Module

XIE Qiaolian; MENG Qiaoling; ZENG Qingxin; DAI Yue; WU Zhiyu; CHEN Liyu; YU Hongliu

doi:10.13973/j.cnki.robot.200584

Volume 43 Issue 4

Jul. 2021

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ROBOT > 2021 > 43(4): 406-413. > DOI: 10.13973/j.cnki.robot.200584 CSTR: 32165.14.robot.200584

XIE Qiaolian, MENG Qiaoling, ZENG Qingxin, DAI Yue, WU Zhiyu, CHEN Liyu, YU Hongliu. Design of a Soft Wrist Exoskeleton Based on SMA Actuator Module[J]. ROBOT, 2021, 43(4): 406-413. DOI: 10.13973/j.cnki.robot.200584

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Design of a Soft Wrist Exoskeleton Based on SMA Actuator Module

XIE Qiaolian^1,2,3,
MENG Qiaoling^1,2,3, ,,
ZENG Qingxin^1,2,3,
DAI Yue^1,2,3,
WU Zhiyu^1,2,3,
CHEN Liyu^1,2,3,
YU Hongliu^1,2,3, ,

1. Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai 200093, China;
2. Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China;
3. Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China

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Received Date: December 30, 2020
Revised Date: May 06, 2021
Available Online: October 26, 2022
Published Date: July 14, 2021

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Abstract

Abstract

A soft wrist exoskeleton based on shape memory alloy (SMA) actuator module is proposed to address the problems of exoskeleton robots in bionics, portability and human-robot interaction. Firstly, the maximum recoverable tensile length and phase transition temperature characteristics of SMA spring are studied, and a hybrid model of SMA spring and manganese steel for SMA actuator module is established. Then, the parameters of the hybrid model are optimized according to the motion range and the required tension of human wrist joint. Finally, a cooling method for SMA springs is proposed by mixing elastic element potential energy, air cooling and high and low current switching, and a control method is designed based on motion angle and phase transition temperature feedback. To verify the practical effect of the soft wrist exoskeleton, wear training and temperature measurement experiments are carried out. The experimental results show that the bionics and flexibility of the exoskeleton conforms to the movement characteristics of the human wrist, and its light weight and portability can improve the assistance effect in daily living activities.
- shape memory alloy (SMA),
- soft exoskeleton,
- flexible actuator,
- bionics,
- wrist exoskeleton

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