Impedance controlled biomechatronic exoskeleton with a shape memory alloy actuator: an experimental evaluation

André A. M. Araujo¹; Eduardo A. Tannuri¹; Arturo Forcer-Cordero¹

¹ Department of Mechatronics Engineering, Escola Politécnica, University of São Paulo,

doi:10.20906/CPS/COB-2015-2582

Resumo

This work presents the experimental results of an impedance control algorithm developed and tested with the aid of a reduced scale biomechatronic exoskeleton powered by a shape memory alloy (SMA) actuator. The experimental apparatus is described, including its mechanical design, sensors used, electric driver design and system control. The test procedure is then explained, followed by the results of experimental tests on the prototype. Then, results are discussed and further improvements are suggested.

Palavras-chave: Robotics; Exoskeleton; Orthose; Impedance control; Shape memory alloys