A Review of Smart Materials in Tactile Actuators for Information Delivery

As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of objects, like weight, temperature, textures, and motion, etc. In fact, those properties are nerve stimuli to our brain received by different kinds of receptors in the skin. Mechanical, electrical, and thermal stimuli can stimulate these receptors and cause different information to be conveyed through the nerves. Technologies for actuators to provide mechanical, electrical or thermal stimuli have been developed. These include static or vibrational actuation, electrostatic stimulation, focused ultrasound, and more. Smart materials, such as piezoelectric materials, carbon nanotubes, and shape memory alloys, play important roles in providing actuation for tactile sensation. This paper aims to review the background biological knowledge of human tactile sensing, to give an understanding of how we sense and interact with the world through the sense of touch, as well as the conventional and state-of-the-art technologies of tactile actuators for tactile feedback delivery

Effect of waste plaster of Paris on physical and mechanical properties of ceramic pottery body

Over the years, millions tonnes of waste plaster of Paris (POP) were generated and disposed in landfills or most of the time was dumped directly into the environment without any treatments, makes it as one of the environmental issues. Therefore, a new alternative is required to convert the wastes POP into useful materials and marketable to minimize the environmental impact. In the early stage, this study focused on the characterization of the raw material used through particle size analysis, thermal analysis, and identification of its purity. Then, the slip casting technique and standard American Society for Test and Materials (ASTM) was respectively used to fabricate and characterize all of the pottery samples. In the second stage, the ceramic pottery body was fabricated using different composition of waste POP, started from 0 wt.% until 12 wt.%. The samples obtained were analysed through viscosity test and its green body was observed. The results showed that the samples with compositions of 0 to 10 wt.% of waste POP were the only samples that can be used in this study. The analysis on the effects of particle sizes ranging from 25 to 73 μm and sintering temperatures ranging from 950 to 1050 °C on the physical and mechanical properties of the fabricated ceramic pottery body, respectively, were then determined in the third and fourth stage of this study. The physical properties were reported in terms of shrinkage, porosity, and density values; whereas, the mechanical properties were reported in terms of the value of modulus of rupture (MOR). The result showed that a dense and a high strength of ceramic pottery can be produced by using a finer size of particle of 25 μm and at a high sintering temperature of 1050 °C, based on the low porosity value, the high density value, MOR and also the controllable value of shrinkage. Therefore, it can be concluded that the waste POP can be successfully used as a filler to enhance the properties of ceramic pottery body

Effect of waste plaster of Paris on physical and mechanical properties of ceramic pottery body

Over the years, millions tonnes of waste plaster of Paris (POP) were generated and disposed in landfills or most of the time was dumped directly into the environment without any treatments, makes it as one of the environmental issues. Therefore, a new alternative is required to convert the wastes POP into useful materials and marketable to minimize the environmental impact. In the early stage, this study focused on the characterization of the raw material used through particle size analysis, thermal analysis, and identification of its purity. Then, the slip casting technique and standard American Society for Test and Materials (ASTM) was respectively used to fabricate and characterize all of the pottery samples. In the second stage, the ceramic pottery body was fabricated using different composition of waste POP, started from 0 wt.% until 12 wt.%. The samples obtained were analysed through viscosity test and its green body was observed. The results showed that the samples with compositions of 0 to 10 wt.% of waste POP were the only samples that can be used in this study. The analysis on the effects of particle sizes ranging from 25 to 73 μm and sintering temperatures ranging from 950 to 1050 °C on the physical and mechanical properties of the fabricated ceramic pottery body, respectively, were then determined in the third and fourth stage of this study. The physical properties were reported in terms of shrinkage, porosity, and density values; whereas, the mechanical properties were reported in terms of the value of modulus of rupture (MOR). The result showed that a dense and a high strength of ceramic pottery can be produced by using a finer size of particle of 25 μm and at a high sintering temperature of 1050 °C, based on the low porosity value, the high density value, MOR and also the controllable value of shrinkage. Therefore, it can be concluded that the waste POP can be successfully used as a filler to enhance the properties of ceramic pottery body

Development of Microactuators Based on the Magnetic Shape Memory Effect

The giant magneto-strain effect in Ni-Mn-Ga alloys is particularly attractive for actuator applications. Two different approaches are being pursued to develop MSM microactuators. To observe large deflections of Ni-Mn-Ga microactuators, the material should be exhibiting low twinning stress and large magnetic anisotropy. In addition, design rules and boundary conditions for operating the Ni-Mn-Ga actuator material are having significant importance for evolution of performance characteristics

Electromagnetic and thermal analyses of high performance magnetic shape memory actuators for valve applications

Magnetic shape memory (MSM) alloys are relatively new “smart” alloys which have enormous potential to be used in actuators, sensors and other electrical devices. Their large strain and considerable stress output can be controlled by magnetic fields or mechanical stresses. Maximum magnetic field-induced strain varies from 6 to 12% of the MSM element’s length depending on its microstructure. However, very low operational temperature limit is one of the main drawbacks of conventional MSM alloys. This makes their application in high performance actuators challenging due to considerable power losses. This paper discusses different MSM actuator designs optimized particularly for large force output for pneumatic electromagnetic (EM) valve applications. The thermal problem is addressed through analyzing the heat transfer conditions of each particular design and the effects of different cooling systems. An energy-efficient operating cycle for varying actuator load that takes advantage of the shape memory effect is also proposed. This allows minimization of energy losses resulting in acceptable increase in temperature ensuring stable continuous actuation

Low power consumption mini rotary actuator with SMA wires

Shape memory alloys (SMAs) are smart materials widely used as actuators for their high power to weight ratio despite their well-known low energy efficiency and limited mechanical bandwidth. For robotic applications, SMAs exhibit limitations due to high power consumption and limited stroke, varying from 4% to 7% of the total length. Hysteresis, during the contraction and extension cycle, requires a complex control algorithm. On the positive side, the small size and low weight are eminently suited for the design of mini actuators for robotic platforms. This paper describes the design and construction of a light weight and low power consuming mini rotary actuator with on-board contact-less position and force sensors. The design is specifically intended to reduce (i) energy consumption, (ii) dimensions of the sensory system, and (iii) provide a simple control without any need for SMA characterisation. The torque produced is controlled by on-board force sensors. Experiments were performed to investigate the energy consumption and performance (step and sinusoidal angle profiles with a frequency varying from 0.5 to 10 Hz and maximal amplitude of 15?). We describe a transient capacitor effect related to the SMA wires during the sinusoidal profile when the active SMA wire is powered and the antagonist one switched-off, resulting in a transient current time varying from 300 to 400 ms

Single Substrate Electromagnetic Actuator

A microvalve which utilizes a low temperature ( <300° C.) fabrication process on a single substrate. The valve uses buckling and an electromagnetic actuator to provide a relatively large closing force and lower power consumption. A buckling technique of the membrane is used to provide two stable positions for the membrane, and to reduce the power consumption and the overall size of the microvalve. The use of a permanent magnet is an alternative to the buckled membrane, or it can be used in combination with the buckled membrane, or two sets of micro-coils can be used in order to open and close the valve, providing the capability for the valve to operate under normally opened or normally closed conditions. Magnetic analysis using ANSYS 5.7 shows that the addition of Orthonol between the coils increases the electromagnetic force by more than 1.5 times. At a flow rate of 1 mL/m, the pressure drop is < 100 Pa. The maximum pressure tested was 57 kPa and the time to open or close the valve in air is under 100 ms. This results in an estimated power consumption of 0.1 mW.Georgia Tech Research Corp

Modeling the Effects of Induction Heating on Arbitrary Shape Memory Alloy Components

The present work examines the effects of high frequency induction heating on shape memory alloy (SMA) components with arbitrary geometries. SMA actuators deliver high forces but are compact and reliable, making them ideal for consideration in aerospace applications. One disadvantage of these thermally driven actuators is their slow time response compared to conventional actuators. By subjecting the SMA component to electromagnetic fields such as those in induction heating enables the component to be heated in seconds. Although induction heating has recently been used to quickly heat SMA components, efforts to date have been purely empirical. This work presents the governing electromagnetic, thermo-mechanical, and constitutive equations needed to approach the problem in a computational manner. The derived equations are implemented in a finite element framework, which can be used for any 3-D arbitrary coil or SMA geometry and relative positioning. The time-harmonic electromagnetic equations are solved for the Joule heat power field, and then the energy and linear momentum equations are solved for the temperature and displacement fields. The 3-D model is implemented in the Abaqus Unified FEA software using a Python script approach and applied to two example cases: an SMA torque tube and an SMA bending beam actuator. The torque tube model is validated against induction heating experiments and agrees well. A study of flux concentrator properties and positions relative to the SMA actuator is shown, which demonstrates a reduction in the time required to heat. To accommodate future optimization work, the developed model is reduced from 3-D to an ordinary differential equation (ODE) in time for the case of a thin walled SMA torque tube, which assumes negligible gradients in all fields. The ODE solution agrees well with experiments and is able to capture the deviations from linearity due to latent heat effects

Efficiency analysis of SMA-based actuators: Possibilities of configuration according to the application

Shape memory alloy (SMA) actuators have recently demonstrated their potential for various applications in fields such as robotics, medicine, aerospace, and automotive. Its features, such as low weight and high force, simplicity, noiseless operation, and low cost compared with other conventional actuator, are only a few advantages of this actuator, which is receiving increasing interest among researchers. However, the use of these actuators is still limited by some of their characteristics: high position error in the cooling stage when the actuator works at frequencies that exceed the necessary cooling time and high electrical energy consumption. Different actuator configurations can help minimize these disadvantages through modifying the length, the number of cables, or the sheath used in the actuator, which modify the characteristics of the complete system. In this work, we developed different configurations of SMA actuators and tested their performance in terms of efficiency and the position error in the cooling stage. The findings demonstrate that over-dimensioned actuators are more energetically efficient and present a faster initial form recovery. The multi-wires actuator configuration produce a better response in terms of position but are less energy efficient. These conclusions allow for the selection of the most appropriate configuration based on the requirements of each particular application.For this research, we received funding from the Sistema robótico para propiciar la marcha en niños pequeños con Parálisis Cerebral under Grant PID2019-105110RB-C32/AEI/10.13039/501100011033, Spanish research project; from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by Programas de Actividades I&D en la Comunidad de Madrid; and co-funded by Structural Funds of the EU

Flexible shape-memory alloy-based actuator: Mechanical design optimization according to application

This article belongs to the Special Issue Actuators Based on Shape Memory Alloys.New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development of a flexible actuator based on SMA, from the point of view of dimensions, efficiency, and work frequency. This type of actuator has been applied in the development of soft robots and light robotic exoskeletons.The research leading to these results has received funding from the Exoesqueleto para Diagnostico y Asistencia en Tareas de Manipulación (DPI2016-75346-R) Spanish research project and from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by ¿Programas de Actividades I+D en la Comunidad de Madrid¿ and cofunded by Structural Funds of the EU