FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3007403994> ?p ?o ?g. }

• W3007403994 abstract "Soft robotics represents a paradigm shift in the design of conventional robots; while the latter are designed as monolithic structures, made of rigid materials and normally composed of several stiff joints, the design of soft robots is based on the use of deformable materials such as polymers, fluids or gels, resulting in a biomimetic design that replicates the behavior of organic tissues. The introduction of this design philosophy into the field of wearable robots has transformed them from rigid and cumbersome devices into something we could call exo-suits or exo-musculatures: motorized, lightweight and comfortable clothing-like devices. If one thinks of the ideal soft wearable robot (exoskeleton) as a piece of clothing in which the actuation system is fully integrated into its fabrics, we consider that that existing technologies currently used in the design of these devices do not fully satisfy this premise. Ultimately, these actuation systems are based on conventional technologies such as DC motors or pneumatic actuators, which due to their volume and weight, prevent a seamless integration into the structure of the soft exoskeleton. The aim of this thesis is, therefore, to design of an actuator that represents an alternative to the technologies currently used in the field of soft wearable robotics, after having determined the need for an actuator for soft exoskeletons that is compact, flexible and lightweight, while also being able to produce the force required to move the limbs of a human user. Since conventional actuation technologies do not allow the design of an actuator with the required characteristics, the proposed actuator design has been based on so-called emerging actuation technologies, more specifically, on shape memory alloys (SMA). The mechanical design of the actuator is based on the Bowden transmission system. The SMA wire used as the transducer of the actuator has been routed into a flexible sheath, which, in addition to being easily adaptable to the user's body, increases the actuation bandwidth by reducing the cooling time of the SMA element by 30 %. At its nominal operating regime, the actuator provides an output displacement of 24 mm and generates a force of 64 N. Along with the actuator, a thermomechanical model of its SMA transducer has been developed to simulate its complex behavior. The developed model is a useful tool in the design process of future SMA-based applications, accelerating development time and reducing costs. The model shows very few discrepancies with respect to the behavior of a real wire. In addition, the model simulates characteristic phenomena of these alloys such as thermal hysteresis, including internal hysteresis loops and return-point memory, the dependence between transformation temperatures and applied force, or the effects of latent heat of transformation on the wire heating and cooling processes. To control the actuator, the use of a non-linear control technique called four-term bilinear proportional-integral-derivative controller (BPID) is proposed. The BPID controller compensates the non-linear behavior of the actuator caused by the thermal hysteresis of the SMA. Compared to the operation of two other implemented controllers, the BPID controller offers a very stable and robust performance, minimizing steady-state errors and without the appearance of limit cycles or other effects associated with the control of these alloys. To demonstrate that the proposed actuator together with the BPID controller are a valid solution for implementing the actuation system of a soft exoskeleton, both developments have been integrated into a real soft hand exoskeleton, designed to provide force assistance to astronauts. In this case, in addition to using the BPID controller to control the position of the actuators, it has been applied to the control of the assistive force provided by the exoskeleton. Through a simple mechanical multiplication mechanism, the actuator generates a linear displacement of 54 mm and a force of 31 N, thus fulfilling the design requirements imposed by the application of the exoskeleton. Regarding the control of the device, the BPID controller is a valid control technique to control both the position and the force of a soft exoskeleton using an actuation system based on the actuator proposed in this thesis." @default.
• W3007403994 created "2020-03-06" @default.
• W3007403994 creator A5024435178 @default.
• W3007403994 date "2019-01-01" @default.
• W3007403994 modified "2023-09-28" @default.
• W3007403994 title "Design of a shape memory alloy actuator for soft wearable robots" @default.
• W3007403994 hasPublicationYear "2019" @default.
• W3007403994 type Work @default.
• W3007403994 sameAs 3007403994 @default.
• W3007403994 citedByCount "0" @default.
• W3007403994 crossrefType "journal-article" @default.
• W3007403994 hasAuthorship W3007403994A5024435178 @default.
• W3007403994 hasConcept C127413603 @default.
• W3007403994 hasConcept C133731056 @default.
• W3007403994 hasConcept C146549078 @default.
• W3007403994 hasConcept C149635348 @default.
• W3007403994 hasConcept C150594956 @default.
• W3007403994 hasConcept C154945302 @default.
• W3007403994 hasConcept C170401851 @default.
• W3007403994 hasConcept C171250308 @default.
• W3007403994 hasConcept C172707124 @default.
• W3007403994 hasConcept C192562407 @default.
• W3007403994 hasConcept C202444582 @default.
• W3007403994 hasConcept C2776058767 @default.
• W3007403994 hasConcept C2982836594 @default.
• W3007403994 hasConcept C33923547 @default.
• W3007403994 hasConcept C34413123 @default.
• W3007403994 hasConcept C41008148 @default.
• W3007403994 hasConcept C44154836 @default.
• W3007403994 hasConcept C54290928 @default.
• W3007403994 hasConcept C78519656 @default.
• W3007403994 hasConcept C90509273 @default.
• W3007403994 hasConcept C9652623 @default.
• W3007403994 hasConceptScore W3007403994C127413603 @default.
• W3007403994 hasConceptScore W3007403994C133731056 @default.
• W3007403994 hasConceptScore W3007403994C146549078 @default.
• W3007403994 hasConceptScore W3007403994C149635348 @default.
• W3007403994 hasConceptScore W3007403994C150594956 @default.
• W3007403994 hasConceptScore W3007403994C154945302 @default.
• W3007403994 hasConceptScore W3007403994C170401851 @default.
• W3007403994 hasConceptScore W3007403994C171250308 @default.
• W3007403994 hasConceptScore W3007403994C172707124 @default.
• W3007403994 hasConceptScore W3007403994C192562407 @default.
• W3007403994 hasConceptScore W3007403994C202444582 @default.
• W3007403994 hasConceptScore W3007403994C2776058767 @default.
• W3007403994 hasConceptScore W3007403994C2982836594 @default.
• W3007403994 hasConceptScore W3007403994C33923547 @default.
• W3007403994 hasConceptScore W3007403994C34413123 @default.
• W3007403994 hasConceptScore W3007403994C41008148 @default.
• W3007403994 hasConceptScore W3007403994C44154836 @default.
• W3007403994 hasConceptScore W3007403994C54290928 @default.
• W3007403994 hasConceptScore W3007403994C78519656 @default.
• W3007403994 hasConceptScore W3007403994C90509273 @default.
• W3007403994 hasConceptScore W3007403994C9652623 @default.
• W3007403994 hasLocation W30074039941 @default.
• W3007403994 hasOpenAccess W3007403994 @default.
• W3007403994 hasPrimaryLocation W30074039941 @default.
• W3007403994 hasRelatedWork W1975864253 @default.
• W3007403994 hasRelatedWork W1993736545 @default.
• W3007403994 hasRelatedWork W2008001601 @default.
• W3007403994 hasRelatedWork W2101262392 @default.
• W3007403994 hasRelatedWork W2120070171 @default.
• W3007403994 hasRelatedWork W2156803738 @default.
• W3007403994 hasRelatedWork W2186273118 @default.
• W3007403994 hasRelatedWork W2220306460 @default.
• W3007403994 hasRelatedWork W2588760867 @default.
• W3007403994 hasRelatedWork W2767139586 @default.
• W3007403994 hasRelatedWork W2887293397 @default.
• W3007403994 hasRelatedWork W2966771237 @default.
• W3007403994 hasRelatedWork W2967125373 @default.
• W3007403994 hasRelatedWork W3006852268 @default.
• W3007403994 hasRelatedWork W3081468046 @default.
• W3007403994 hasRelatedWork W3092639605 @default.
• W3007403994 hasRelatedWork W3112477705 @default.
• W3007403994 hasRelatedWork W3195323774 @default.
• W3007403994 hasRelatedWork W944473046 @default.
• W3007403994 hasRelatedWork W2071230056 @default.
• W3007403994 isParatext "false" @default.
• W3007403994 isRetracted "false" @default.
• W3007403994 magId "3007403994" @default.
• W3007403994 workType "article" @default.