Research on Real-Time Curvature Detection and Bending Control of Shape Memory Alloy Actuators Based on Flexible Strain Sensors

摘要

Recently, shape memory alloy (SMA) actuators have gained significant attention in the field of soft robot research. Nevertheless, the task of attaining precise shape recognition and bending control poses ongoing difficulties. The present study introduces a novel technology that integrates a shape memory alloy actuator with a flexible strain sensor. A high-sensitivity strain sensor, fabricated using ion gel material, is used to continuously monitor and provide feedback control on the bending condition of the actuator in real-time. The experimental results demonstrate that the system has exceptional sensitivity and stability within a specific range of strain. An accurate bending control of the actuator is achieved by established the mapping relationship between capacitance and curvature. The present study introduces a novel concept for the sensing and manipulation of bionic soft robots, with anticipated extensive application in future flexible electronic devices and human-computer interface systems.