This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert a...

This paper presentsan adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this pap...

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A linear piezoelectric actuator based on the stick-slip principle is presented and tested in this paper. With the help of changeable vertical preload force flexure hinge, the designed linear actuator can achieve both large travel stick-slip motion and high-resolution stepping displacement. The developed actuator mainly consists of a bridge-type flexure hinge mechanism, a compound parallelogram ...

Development of biomimetic actuators has been an essential motivation in the study of smart materials. However, few materials are capable of controlling complex twisting and bending deformations simultaneously or separately using a dynamic control system. Here, we report an ionic polymer-metal composite actuator having multiple-shape memory effect, and is able to perform complex motion by two ex...

Simultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator healthy coefficients (AHCs), which are introduced to represent actuator faults, a combined dynamic model is established with the augmented state co...

This paper focuses on the analysis, the modeling and the control of a linear-switched reluctance motor. The application under consideration is medical, and the actuator is to be used as a left ventricular assist device. The actuator has a cylindrical or tubular shape, with a mechanical unidirectional valve placed inside the mover, which provides a pulsatile flow of blood. The analytical express...

The piezoelectric stick-slip (PZT-SS) actuator is known to achieve motion with a theoretically unlimited range yet high resolution (several nanometers). In this type of actuator, friction plays an active role in producing a meaningful stick-slip motion. However, friction is a source of heat which may cause significant temperature rise, affecting the dynamic performance of the actuator. Our stud...

In this paper, the design and control of a novel shape memory alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. The actuator consists of 48 nickel-titanium SMA wires mechanically bundled in parallel forming one powerful artificial muscle. This new linear actuator can apply up to 100 lbf (445 N), which is approximately 300 times its weight, over a maximum...

Purpose – This study seeks to develop a novel eight-legged robot. Additionally, this study defines design and control of an eight-legged single actuator walking ROBOTURK SA-2 spider robot based on the features of a creatural spider. Design/methodology/approach – First, the single actuator eight-legged tetrapod walking spider robot was modeled on solid works and then the animation of the model w...