A Novel Approach of Using SMA Wires Actuated Stewart Platform for Continuous Passive Motion (CPM) of Ankle Rehabilitation Therapy

摘要

This paper analyses the result of the ongoing experimental research on the operational behavior of SMA in medical and robotics application. SMA are the materials that have the ability to return their original shape when subjected to the appropriate thermo mechanical interaction. SMA finds very wide applications in various facets of robotic equipments and industrial automation. They are easy to manufacture, low cost and can be integrated with human operations without any large scale safety requirements. Three SMA wires with diameters of 0.254 mm, 0.381 mm and 0.508 mm were experimented to measure the displacement of the wire with various bias forces. The 0.25 mm wire is best suited for generating substantial displacement. The displacement may be used to create CPM (Continues Passive Motion) for the Stewart platform for ankle rehabilitation therapy.