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Independent Control of Force Displacement Using Shape Memory Alloy Tactile Display

机译：使用形状记忆合金触觉显示器独立控制力和位移

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This paper proposes one of the possible techniques for interacting for shape memory alloy (SMA) actuator based tactile display, which can act as demonstrator devices. This work is focused on developing a model of a pair of antagonistic high strain SMA tension actuators with independent control of force and displacement. The technology employed utilizes two Flexinol 100 micron heat actuated wires of Titanium-Nickel (NiTi) shape-memory alloy which contract when heated under pre-stress and produces up to 5% strain recovery. This phenomenon, which provides a unique mechanism for actuation, is associated with the unique interaction between the martensite and austenite crystal structures of the SMA. Physical measurements of the behaviour of the actuator elements were performed using a laser displacement sensor to verify the fidelity of response to software commands, and to measure step response to pulse-width modulated (PWM) current control at different frequencies and duty cycles. Results yielded high accuracy across a wide range of frequencies and duty cycles, proving the SMA actuation technique has potential to present and convey useful tactile information of surface deformation for virtual environment applications.
机译：本文提出了一种用于相互作用的形状记忆合金（SMA）致动器的触觉显示器之一，其可以充当示范器件。这项工作主要集中在开发一对抗动化高应变SMA张力执行器的模型，具有独立控制力和位移。所采用的技术利用钛 - 镍（NITI）形状记忆合金的两个柔性醇100微米热致动线，当在预应力下加热时合同，产生高达5％的菌株恢复。这种提供了独特的致动机制的现象与SMA的马氏体和奥氏体结构之间的独特相互作用有关。使用激光位移传感器执行致动器元件行为的物理测量，以验证对软件命令的响应的保真度，并测量对不同频率和占空比的脉冲宽度调制（PWM）电流控制的阶梯响应。结果跨越各种频率和占空比产生高精度，证明SMA致动技术具有潜力，并传达对虚拟环境应用的表面变形的有用触觉信息。

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