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Artificial Muscle based on Flexinol motor wire

Artificial Muscle based on Flexinol motor wire. Scott Renkes Advisor: David Noelle. Purpose. Design a new actuator Robotics Prosthetics Teleoperation. Current Technology. Why a new actuator?. Replicate human movement Refined force and velocity control of device

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Artificial Muscle based on Flexinol motor wire

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  1. Artificial Muscle based on Flexinol motor wire Scott Renkes Advisor: David Noelle

  2. Purpose • Design a new actuator • Robotics • Prosthetics • Teleoperation

  3. Current Technology

  4. Why a new actuator? • Replicate human movement • Refined force and velocity control of device • Human like movement allows for better man machine integration • Humanoid robots can more easily mimic humans

  5. Fibrous Bundled Structure • Flexinol motor wire to replace muscle fibers • Package wires similar to muscle • Flexinol/muscle fiber proportional elasticity • Similar force/length curves

  6. Recruitment • One bundle, one neuron • Weak fast, slow strong • Properties of motor wire allow for variety of activation • Neural Network Controller • Force feedback training • Inverse Dynamics

  7. Flexinol Properties

  8. Neural Net Recruiting • Neural Net Basics • Learning • Memory • Back Propagation • Neural Net Implementation • Computer • Microcontroller • Amplifier • Force Controlled • Force feedback • Desired Force

  9. EMG Controller • Muscle Voltage vs Muscle Force • EMG signals represent muscle force • Neural Network for EMG pattern recognition

  10. Human Like? • Force length curve • Normalized • Recruitment • Use neuron control method • Inverse Dynamics

  11. Sneak Preview

  12. Project Status • Completed work • Study properties of motor wire • Calculate efficiency of passive cooling • Develop Structure and Control for the device • Design test bed • Examine neural network solution • Current Work • Finish building actuator

  13. Future Work • Code user friendly interface for training and controlling neural network • Implement portable microcontroller neural networks • Design portable batter pack to drive system

  14. Questions?

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