Shape memory alloy actuated robot prostheses: initial experiments

Abstract

Describes the objectives of a project, which are to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability. The key to satisfying these objectives is the use of shape memory alloy (SMA) artificial muscles as actuators. A general methodology to find the placement of SMA wires to achieve desired ranges of motion is presented. Two experimental prototypes, emulating human skeletal structures that are actuated by SMA artificial muscles are described in detail.