Design and precise control of soft fingerstall based on shape memory alloy
A soft fingerstall actuated by shape memory alloy(SMA)springs is proposed.A sensing system using Hall sensors is designed to accurately sense the bending state of the fingerstall.By analyzing the structure and motion characteristics of hand,the kinematic model of fingerstall is built.Finally,an experimental platform is built to carry out sensor calibration experiments and analysis,serrated velocity curve tracking is completed.The experimental results show that the soft fingerstall can realize precise motion control through high precision position information and a classical PID controller.
shape memory alloy(SMA)Hall sensorsoft fingerstallprecise control
NETL
NSTL
万方数据
维普
