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Novel artificial muscle using shape memory alloy spring bundles in honeycomb architecture in Bi-directions


In this paper, we developed a novel artificial muscle using shape memory alloy (SMA) spring bundles. We arranged the SMA springs in honeycomb architecture to increase the utilization of the designed space. This artificial muscle has small size and small weight and can be repeated easily for various biologically inspired applications such as an exoskeleton and exo-suit, where small size and small weight of the actuator are momentous. This muscle consists of two sets of SMA springs: six SMA springs (Set A) and six antagonistic SMA springs (Set B) arranged in hexagon vertexes for forward and reverse motion respectively. This modular muscle can be reduplicated in parallel to increase the output force or in series to increase the stroke length in order to fit the desired actuation application. We used an inertial measurement unit (IMU) sensor to feedback the angle and two sets of temperature sensors were applied to monitor the SMA temperature. The system is modeled and experimentally verified in open-loop and closed-loop control. We used a proportional-integral-derivative (PID) controller to track the desired trajectories. The experimental results show that the system is capable of tracking the desired trajectory with delay time 1.2 s, rise time 2.5 s. (per \(30^{\circ }\)), and overshoot \(2.3\%\).

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This work was mainly supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2017R1A2B4008056, No. 2021R1H1A2093798, and No. 2022R1A2C1011462). This work was also in part supported by “Regional Innovation Strategy (RIS)” through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (MOE) (2021RIS-004). Also, the first author is funded by the Brain Pool (BP) program by the National Research Foundation (NRF) with BP Grant (2019H1D3A1A01071124). Authors would like to thank Eng. Esraa Mostafa for sharing hand sketches and discussions. Authors are grateful to Prof. Ahmed M. R. Fath Elbab, and Dr. Mahmoud Elsamanty for their useful comments and advice. Also, authors would like to thank all the researchers at the laboratory of Intelligent Control and Robotic Systems (ICRS), Hanbat National University, for support and motivation.

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Correspondence to Youngshik Kim.

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Ali, H.F.M., Kim, Y. Novel artificial muscle using shape memory alloy spring bundles in honeycomb architecture in Bi-directions. Microsyst Technol (2022).

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  • Shape memory alloy
  • Artificial muscle
  • Soft robotics
  • Bio-inspired robots
  • Trajectory control