Design and implementation of a portable amagnetic shape memory rotary actuator

Abstract

Actuators based on standard technologies often do not comply with environmental constraints on electromagnetic noise. Even though shape memory actuators are not ferromagnetic, activation by Joule’s effect poses a question about magnetic compatibility. This article presents a new concept design of a rotary actuator based on a double coil of NiTi wire, which permits to abate dramatically the electromagnetic fields generated. A particular implementation of the idea was devised as a case study to investigate feasibility. The desired torque and stroke were 83 N cm and 40°, respectively, and mechanical tests confirmed that a maximal stroke of 38° can be achieved for resisting torques ranging from 33 to 122 N cm. The built prototype proved appropriate to respond to the needs of a neuroscience study requiring mobilization of the ankle. So, this device was tested during measurement of brain activity in healthy subjects with both magnetoencephalography and functional magnetic resonance imaging, that is, diagnostic equipment with very demanding constraints on electromagnetic noise. Neither magnetoencephalography signals nor the functional magnetic resonance imaging images were affected by any electromagnetic noise or artifacts, allowing for further analysis and extraction of neurological features. Besides the discussed uses, this type of actuator could find an application in several fields, such as biomedical, robotic, aerospace, or automotive.

Keywords

NiTi shape memory alloy torsional magnetic magnetic resonance compact

Get full access to this article

View all access options for this article.

References

Benafan

Vaidyanathan

(2009) A shape memory alloy controlled heat pipe based thermal switch. In: Proceedings ASME IMECE, 13–19 November, Lake Buena Vista, Florida, USA, pp. 107–109, ASME.

Churchill

Shaw

Iadicola

(2009) Tips and tricks for characterizing shape memory alloy wire: part 2—fundamental isothermal responses. Experimental Techniques 33: 51–62.

Fumagalli

Butera

Coda

(2009) SmartFlex NiTi wires for shape memory actuators. Journal of Materials Engineering and Performance 18: 691–695.

Funakubo

(1987) Shape Memory Alloys. New York: Gordon and Breach Science Publishers, p. 275.

Gauger

(1985) Household appliance magnetic field survey. IEEE Transactions on Power Apparatus and Systems PAS-104(9): 2436–2444.

Hari

Salmelin

(in press) Magnetoencephalography: from SQUIDs to neuroscience: Neuroimage 20th anniversary special edition. NeuroImage 61(2): 386–396.

Ikuta

(1990) Micro/miniature shape memory alloy actuator. In: Proceedings of IEEE ICRA, 13–18 May, Cincinnati, Ohio, USA, pp. 2156–2161. IEEE Computer Society Press.

Lagoudas

(2008) Shape Memory Alloys: Modeling and Engineering Applications. Berlin: Springer, p. 435.

Liu

Huang

Yen

(2010) Tracking control of shape-memory-alloy actuators based on self-sensing feedback and inverse hysteresis compensation. Sensors 10: 112–127.

10.

Malmivuo

(2000) Biomagnetism. In: Bronzino

(ed.) The Biomedical Engineering Handbook. Boca Raton, FL: CRC Press, pp. 16/1–16/16.

11.

Matthews

Jezzard

(2004) Functional magnetic resonance imaging. Journal of Neurology Neurosurgery and Psychiatry 75: 6–12.

12.

Mavroidis

(2002) Development of advanced actuators using shape memory alloys and electrorheological fluids. Research in Nondestructive Evaluation 14: 1–32.

13.

Miyazaki

Otsuka

(1989) Development of shape memory alloys. ISIJ International 29: 353–377.

14.

Nespoli

Besseghini

Pittaccio

. (2010) The high potential of shape memory alloys in developing miniature mechanical devices: a review on shape memory alloy mini-actuators. Sensors and Actuators A: Physical 158: 149–160.

15.

Otsuka

Ren

(2005) Physical metallurgy of Ti–Ni-based shape memory alloys. Progress in Materials Science 50: 511–678.

16.

Otsuka

Wayman

(1998) Shape Memory Materials. Cambridge: Cambridge University Press, p. 287.

17.

Petrini

Migliavacca

(2011) Biomedical applications of shape memory alloys (Article ID 501483). Journal of Metallurgy 2011: 15 pp.

18.

Pittaccio

Viscuso

(2011) An EMG-controlled SMA device for the rehabilitation of the ankle joint in post-acute stroke. Journal of Materials Engineering and Performance 20: 666–670.

19.

Pittaccio

Viscuso

Rossini

. (2009) SHADE: a shape-memory-activated device promoting ankle dorsiflexion. Journal of Materials Engineering and Performance 18: 824–830.

20.

Pittaccio

Zappasodi

Viscuso

. (2011a) Primary sensory and motor cortex activities during voluntary and passive ankle mobilization by the SHADE orthosis. Human Brain Mapping 32: 60–70.

21.

Pittaccio

Viscuso

Besseghini

(2011b) Rotational actuator. Patent number: WO/2011/141183.

22.

Reynaerts

Peirs

Van Brussel

(1997) An implantable drug-delivery system based on shape memory alloy micro-actuation. Sensors and Actuators A: Physical 61: 455–462.

23.

Song

(2007) Design and control of a Nitinol wire actuated rotary servo. Smart Materials and Structures 16: 1796–1801.

24.

Tanaka

Yamada

(1991) A rotary actuator using shape memory alloy for a robot-analysis of the response with load. In: Proceedings of IEEE/RSJ IROS ’91, 3–5 November, Osaka, Japan, pp. 1163–1168. IEEE.

25.

Tsekos

Khanicheh

Christoforou

. (2007) Magnetic resonance-compatible robotic and mechatronics systems for image-guided interventions and rehabilitation: a review study. Annual Review of Biomedical Engineering 9: 351–387.

26.

Tuissi

Bassani

Mangioni

. (2004) Fabrication process and characterization of NiTi wires for actuation. In: Proceedings of SMST 2004, 3–7 October, Baden-Baden, Germany, pp. 501–508. ASM International.

27.

Van Humbeek

Stalmans

(2005) Characteristics of Shape Memory Alloys. In: Otsuka

Wayman

(Eds.) Shape Memory Materials. Cambridge: Cambridge University Press, Chapter 7, pp. 149–183.