Shape memory alloy actuator controller design for tactile displays

This paper describes the design of a controller for a tactile shape display for dexterous telemanipulation applications. This device consists of an array of pin elements which rest against the human finger tip. Shape memory alloy (SMA) wire actuators raise individual pins to approximate the desired...

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Bibliographic Details
Published inProceedings of 1995 34th IEEE Conference on Decision and Control Vol. 4; pp. 3540 - 3544 vol.4
Main Authors Howe, R.D., Kontarinis, D.A., Peine, W.J.
Format Conference Proceeding
LanguageEnglish
Published IEEE Control Systems Society 1995
Subjects
Actuators
Displays
Fingers
Humans
Optical feedback
Pins
Shape control
Shape memory alloys
Skin
Wire
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ISBN0780326857
9780780326859
ISSN0191-2216
DOI10.1109/CDC.1995.479133

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Summary:This paper describes the design of a controller for a tactile shape display for dexterous telemanipulation applications. This device consists of an array of pin elements which rest against the human finger tip. Shape memory alloy (SMA) wire actuators raise individual pins to approximate the desired surface shape on the skin. To overcome the slow response times of SMA actuators we have implemented a feedforward derivative compensator and pneumatic cooling. The hysteretic and nonlinear response of the SMA actuators required the use of a closed loop controller with position feedback using an optical emitter-receiver pair. This also improves robustness to the load variations which result from human interaction.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.479133