In this paper, we present modeling and characterization of coiled SMA spring actuators that are fabricated by coiling
cylindrical SMA wires on to a threaded screw mandrel and applying heat treatment. Here, we evaluate a theoretical model
that describes the actuation behavior of SMA coiled springs based on the constitutive model of SMA. We have
experimentally verified the developed theoretical model and analyzed various parameters with respect to temperature
change during actuation. The model was coded in Simulink® and the effects of various parameters with respect to
temperature change were investigated. Simulations were compared with experiments and good agreement was obtained.
We also show, how the high tension winding of SMA on the mandrel help in better performance and understanding of the
fabricated coiled SMAs.
Previously, we have presented the design and characterization of artificial heart using cylindrical shape memory alloy (SMA) actuators for humanoids . The robotic heart was primarily designed to pump a blood-like fluid to parts of the robot such as the face to simulate blushing or anger by the use of elastomeric substrates for the transport of fluids. It can also be used for other applications. In this paper, we present an improved design by using high strain coiled SMAs and a novel pumping mechanism that uses sequential actuation to create peristalsis-like motions, and hence pump the fluid. Various placements of actuators will be investigated with respect to the silicone elastomeric body. This new approach provides a better performance in terms of the fluid volume pumped.
A soft robotic device inspired by the pumping action of a biological heart is presented in this study. Developing
artificial heart to a humanoid robot enables us to make a better biomedical device for ultimate use in humans. As
technology continues to become more advanced, the methods in which we implement high performance and
biomimetic artificial organs is getting nearer each day. In this paper, we present the design and development of a
soft artificial heart that can be used in a humanoid robot and simulate the functions of a human heart using shape
memory alloy technology. The robotic heart is designed to pump a blood-like fluid to parts of the robot such as the
face to simulate someone blushing or when someone is angry by the use of elastomeric substrates and certain
features for the transport of fluids.