Online force control of a shape-memory-alloy-based 2 degree-of-freedom human finger via inverse model and proportional–integral–derivative compensator
In this work, a model-based controller is developed to track the force at fingertip of an artificial hand. To do so, shape-memory-alloy wires are implemented as an actuator in the finger. Besides, different aspects of modeling, including force relations, kinematics, and heat transfer analysis, are i...
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| Veröffentlicht in: | Journal of intelligent material systems and structures 2019-06, Vol.30 (10), p.1538-1548 |
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| Hauptverfasser: | , , , |
| Format: | Artikel |
| Sprache: | eng |
| Online-Zugang: | Volltext |
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