By Topic

Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ikuta, K. ; Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA ; Tsukamoto, M. ; Hirose, S.

A control system for a shape memory alloy (SMA) servo actuator, and its application to a unique medical tool, are considered. It is thought that the electric resistance value of an SMA can be utilized to monitor the transformation of the SMA directly. Therefore, an antagonistic transformation control scheme using electric resistance feedback is proposed and is verified by several experiments. This control scheme reduces the open-loop hysteresis of an SMA actuator and improves greatly its robustness against heat disturbance due to changes in the cooling condition. Research into the application of the method in an active endoscope is reported. It consists of five segments of 13 mm diameter, 40 mm length each. The bending angle of each segment can be controlled individually from outside by using antagonistic electric resistance feedback without any motion sensors. A model for smooth insertion to the colon is verified

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988