Resistance Feedback of a Ni-Ti Alloy Actuator at Room Temperature in Still Air.

This paper illustrates an experimental activity for the closed-loop position control of an actuator made using shape memory alloy (SMA) wire. A solution with the self-sensing effect was implemented to miniaturize the systems, i.e., without external sensors. A proportional control algorithm was initially used, demonstrating the idea's feasibility; the wire can behave simultaneously as an actuator and sensor. An experimental investigation was subsequently conducted for the optimization of the developed actuator. As for the material, a Flexinol wire, Ni-Ti alloy, with a diameter of 0.150 mm and a length of 200 mm, was used. Preliminarily, characterization of the SMA wire at constant and variable loads was carried out; the characteristics detected were elongation vs. electric current and elongation vs. electrical resistance. The control system is PC based with a data acquisition card (DAQ). A drive board was designed and built to read the wire's electrical resistance and power it by pulse width modulation (PWM). A notable result is that the actuator works with good precision and in dynamic conditions, even when it is called to support a load up to 65% different from that for which the electrical resistance-length correlation has previously been experimentally obtained, on which the control is based. This opens up the possibility of using the actuator in a counteracting configuration with a spring, which makes hardware implementation and control management simple.

Manufacture and Deformation Angle Control of a Two-Direction Soft Actuator Integrated with SMAs.

In this contribution, the development of a 3D-printed soft actuator integrated with shape memory alloys (SMA) wires capable of bending in two directions is presented. This work discusses the design, manufacturing, modeling, simulation, and feedback control of the actuator. The SMA wires are encased in Polytetrafluoroethylene (PTFE) tubes and then integrated into the 3D-printed matrix made of thermoplastic polyurethane (TPU). To measure and control the deformation angle of the soft actuator, a computer vision system was implemented. Based on the experimental results, a mathematical model was developed using the system identification method and simulated to describe the dynamics of the actuator, contributing to the design of a controller. However, achieving precise control of the deformation angle in systems actuated by SMA wires is challenging due to their inherent nonlinearities and hysteretic behavior. A proportional-integral (PI) controller was designed to address this challenge, and its effectiveness was validated through real experiments.

Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality.

This research introduces an advanced robotic finger designed for future generalist robots, closely mimicking the natural structure of the human finger. The incorporation of rarely discussed anatomical structures, including tendon sheath, ligaments, and palmar plates, combined with the usage of anatomically proven 3D models of the finger, give rise to the highly accurate replication of human-like soft mechanical fingers. Benefiting from the accurate anatomy of muscle insertions with the utilization of Shape Memory Alloy (SMA) wires' muscle-like actuation properties, the bonding in-between the flexor tendons and extensor tendons allows for the realization of the central and lateral band of the finger anatomy. Evaluated using the computer vision method, the proposed robotic finger demonstrates a range of motion (ROM) equivalent to 113%, 87% and 88% of the human dynamic ROM for the DIP, PIP and MCP joints, respectively. The proposed finger possesses a soft nature when relaxed and becomes firm when activated, pioneering a new approach in biomimetic robot design and offering a unique contribution to the future of generalist humanoid robots.

NiTi-Cu Bimetallic Structure Fabrication through Wire Arc Additive Manufacturing.

This study endeavors to comprehensively explore and elucidate the seamless integration of NiTi shape memory alloys (SMAs) into multifaceted applications through the utilization of novel joining techniques. The primary focus lies in the utilization of wire arc additive manufacturing (WAAM) to deposit Nitinol (NiTi) onto Copper (Cu), thereby introducing a transformative approach for their integration into electro-mechanical systems and beyond. Through a detailed examination of the NiTi/Cu bimetallic junction, using advanced analytical techniques including SEM, XRD, and DSC analyses, this research aims to unravel the intricate complexities inherent within the interface. The SEM images and X-ray patterns obtained reveal a complex and nuanced interface characterized by a broad mixed zone comprising various constituents, including Ti(Ni,Cu)2, pure Cu, Ti2(Ni,Cu)3 precipitates, and Ni-rich NiTi precipitates. The DSC results, showcasing low-intensity broad peaks during thermal cycling, underscore the inherent challenges in demonstrating functional properties within the NiTi/Cu system. Recognizing the critical importance of an enhanced martensitic transformation, this study delves into the effects of heat treatment. Calorimetric curves post-annealing at 500 °C exhibit distinct transformation peaks, shedding light on the intricate influence of NiTi layer distribution within the junction. The optimal heat treatment parameters for NiTi/Cu junction restoration are meticulously explored and determined at 500 °C for a duration of 12 h. Furthermore, the study offers valuable insights into optimizing NiTi-Cu joints, with micro-hardness values reaching 485 HV and compressive strength scaling up to 650 MPa. These significant findings not only hold promise for diverse applications across various industries but also pave the way for further research directions and explorations into the realm of SMA integration and advanced joining methodologies.

Mechanical Properties, Microstructure, and Actuation Behavior of Wire Arc Additive Manufactured Nitinol: Titanium Bimetallic Structures.

Nitinol (NiTi) is well known for its corrosion resistance, shape memory effect, superelasticity, and biocompatibility, whereas Titanium (Ti) is well known for its high specific strength, corrosion resistance, and biocompatibility. The bimetallic joint of NiTi and Ti is required for applications that require tailored properties at different locations within the same component, as well as to increase design flexibility while reducing material costs. However, because of the formation of brittle intermetallic phases, connecting NiTi and Ti is difficult. In the present study, a systematic experimental investigation is carried out to develop NiTi-Ti bimetallic joint using wire arc additive manufacturing (WAAM) for the first time and to evaluate its microstructure, mechanical properties, martensitic transformation, and actuation behavior in the as-built condition. The defect-free joint is obtained through WAAM and microstructural studies indicate the formation of intermetallics at the NiTi-Ti interface leading to higher microhardness values (600 HV). Shape recovery behavior and phase transformation temperature were also enhanced in comparison to NiTi. An improved actuation and bending angle recovery is observed in comparison with NiTi. The present study lays the way for the use of WAAM in the construction of NiTi and Ti bimetallic structures for engineering and medicinal applications.

Design and Control of a Soft Knee Exoskeleton for Pediatric Patients at Early Stages of the Walking Learning Process.

Pediatric patients can suffer from different motor disorders that limit their neurological and motor development and hinder their independence. If treated at the very early stages of development, those limitations can be palliated or even removed. However, manual interventions are not completely effective due to the restrictions in terms of time, force, or tracking experienced by the physiotherapists. The knee flexo-extension is crucial for walking and often affected by disorders such as spasticity or lack of force in the posterior chain. This article focuses on the development of a knee exosuit to follow angular trajectories mimicking the maximum and minimum peaks present in the knee flexo-extension profiles of healthy individuals during walking. The proposed exosuit is based on shape memory alloy actuators along with four inertial sensors that close the control loop. The whole device is controlled through a two-level controller and has an hybrid rigid-flexible design to overcome the different issues present in the literature. The device was proven to be feasible for this type of application, with replicable and consistent behavior, reducing the price and weight of existing exosuits and enhancing patient comfort.

Soft Artificial Muscle Based on Pre-Detwinned Shape Memory Alloy Spring Actuator Achieving High Passive Assistive Torque for Wearable Robot.

For designing the assistive wearable rehabilitation robots, it is challenging to design the robot as energy efficient because the actuators have to be capable of overcoming human loads such as gravity of the body and spastic torque continuously during the assistance. To address these challenges, we propose a novel design of soft artificial muscle that utilizes shape memory alloy (SMA) spring actuators with pre-detwinning process. The SMA spring was fabricated through a process called pre-detwinning, which enhances the linearity of the SMA spring in martensite phase and unpowered restoring force, which is called passive force. The fabricated SMA spring can contract >60%. Finally, the soft wearable robot that can assist not only the gravitational torque exerted on the elbow by passive force, but also the elbow movements with active force was designed with a soft artificial muscle. A soft artificial muscle consists of the bundles of pre-detwinned SMA springs integrated with the stretchable coolant vessel. The stiffness of the muscle was measured as 1125 N/m in martensite phase and 1732 N/m in austenite phase. In addition, the muscle showed great actuation frequency performances, the bandwidth of which was measured as 0.5 Hz. The proposed wearable mechanism can fully compensate the gravitational torque for all the angles in passive mode. In addition, the proposed mechanism can produce high torque up to 3.5 Nm and movements in active mode.

Additive manufacturing of Ni-free Ti-based shape memory alloys: A review.

Ni-free Ti-based Shape Memory Alloys composed of non-toxic elements have been studied as promising candidates for biomedical applications. However, high tool wear makes them complex to manufacture with conventional techniques. In this way, Additive Manufacturing technologies allow to fabricate complex three-dimensional structures overcoming their poor workability. Control of composition, porosity, microstructure, texture and processing are the key challenges for developing Ni-free Ti-based Shape Memory Alloys. This article reviews various studies conducted on the Additive Manufacturing of Ni-free Ti-based shape memory alloys, including their processing, microstructures and properties.

Smart Biomaterials in Biomedical Applications: Current Advances and Possible Future Directions.

Smart biomaterials with the capacity to alter their properties in response to an outside stimulus or from within the environment around them have picked up significant attention in the biomedical community. This is primarily due to the interest in their biomedical applications that may be anticipated from them in a considerable number of dynamic structures and devices. Shape-memory materials are some of these materials that have been exclusively used for these applications. They exhibit unique structural reconfiguration features they adapt as per the provided environmental conditions and can be designed for their enhanced biocompatibility. Numerous research initiatives have focused on these smart biocompatible materials over the last few decades to enhance their biomedical applications. Shape-memory materials play a significant role in this regard to meet new surgical and medical devices' requirements for special features and utility cases. Because of the favorable design variety, different biomedical shape-memory materials can be developed by modifying their chemical and physical behaviors to accommodate the desired requirements. In this review, recent advances and characteristics of smart biomaterials for biomedical applications are described. The authors also discuss about their clinical translations in tissue engineering, drug delivery, and medical devices.

Guided acoustic waves in thin epitaxial films: Experiment and inverse problem solution for NiTi.

Despite the fundamental and technological importance of the elastic constants, a suitable method for their full characterization in epitaxial films is missing. Here we show that transient grating spectroscopy (TGS) with highly k-vector-selective generation and detection of acoustic waves is capable of determination of all independent elastic coefficients of an epitaxial thin film grown on a single-crystalline substrate. This experimental setup enables detection of various types of guided acoustic waves and evaluation of the directional dependence of their speeds of propagation. For the studied model system, which is a 3µm thin epitaxial film of the NiTi shape memory alloy on an MgO substrate, the TGS angular maps include Rayleigh-type surface acoustic waves as well as Sezawa-type and Love-type modes, delivering rich information on the elastic response of the film under different straining modes. The resulting inverse problem, which means the calculation of the elastic constants from the TGS maps, is subsequently solved using the Ritz-Rayleigh numerical method. Using this approach, tetragonal elastic constants of the NiTi film and their changes with the austenite→martensite phase transition are analyzed.

Snapping for 4D-Printed Insect-Scale Metal-Jumper.

The replication of jumping motions observed in small organisms poses a significant challenge due to size-related effects. Shape memory alloys (SMAs) exhibit a superior work-to-weight ratio, making them suitable for jumping actuators. However, the SMAs advantages are hindered by the limitations imposed by their single actuator configuration and slow response speed. This study proposes a novel design approach for an insect-scale shape memory alloy jumper (net-shell) using 4D printing technology and the bistable power amplification mechanism. The energy variations of the SMA net-shell under different states and loads are qualitatively elucidated through a spring-mass model. To optimize the performance of the SMA net-shell, a non-contact photo-driven technique is employed to induce its shape transition. Experimental investigations explore the deformation response, energy release of the net-shell, and the relationship between the light power density. The results demonstrate that the SMA net-shell exhibits remarkable jumping capabilities, achieving a jump height of 60 body lengths and takeoff speeds of up to 300 body lengths per second. Furthermore, two illustrative cases highlight the potential of net-shells for applications in unstructured terrains. This research contributes to miniaturized jumping mechanisms by providing a new design approach integrating smart materials and advanced structures.

Material-Enabled Impact Detection and Damage Localisation System Using Shape Memory Alloy Tufted Composites.

Shape memory alloy (SMA) tufted composites have shown a significant improvement of the mechanical strength, fracture toughness, and delamination resistance of structural joints. This paper investigated the self-sensing functionality of SMA tufted carbon/epoxy composite T-joints to enable in situ strain monitoring for the detection of low-velocity impacts. Indeed, large deformations in the tufted composite due to impacts caused abrupt changes in electrical resistance of SMA filaments, which were used to trigger the detection system. An Arduino Mega controller was programmed to simultaneously extract and process real-time electrical resistance recordings from SMA tufts during impact tests conducted at 5 J and 10 J. Experimental results showed that the proposed SMA-enabled detection system can capture accurately the time of the impact and localise the delamination onset, thus demonstrating the truly multifunctional capabilities of proposed SMA tufted composites.

Additive Manufacturing of Fe-Mn-Si-Based Shape Memory Alloys: State of the Art, Challenges and Opportunities.

Additive manufacturing (AM) constitutes the new paradigm in materials processing and its use on metals and alloys opens new unforeseen possibilities, but is facing several challenges regarding the design of the microstructure, which is particularly awkward in the case of functional materials, like shape memory alloys (SMA), as they require a robust microstructure to withstand the constraints appearing during their shape change. In the present work, the attention is focused on the AM of the important Fe-Mn-Si-based SMA family, which is attracting a great technological interest in many industrial sectors. Initially, an overview on the design concepts of this SMA family is offered, with special emphasis to the problems arising during AM. Then, such concepts are considered in order to experimentally develop the AM production of the Fe-20Mn-6Si-9Cr-5Ni (wt%) SMA through laser powder bed fusion (LPBF). The complete methodology is approached, from the gas atomization of powders to the LPBF production and the final thermal treatments to functionalize the SMA. The microstructure is characterized by scanning and transmission electron microscopy after each step of the processing route. The reversibility of the ε martensitic transformation and its evolution on cycling are studied by internal friction and electron microscopy. An outstanding 14% of fully reversible thermal transformation of ε martensite is obtained. The present results show that, in spite of the still remaining challenges, AM by LPBF offers a good approach to produce this family of Fe-Mn-Si-based SMA, opening new opportunities for its applications.

Datasets of narrow thermal hysteresis behaviour Ti-Ni-based HT-SMAs and the predicted accumulated local effects.

This article refers to data derived from a research article entitled "Prediction of narrow HT-SMA thermal hysteresis behaviour using explainable machine learning" [1]. It is based on the knowledge that alloying Ti-Ni-based shape memory alloys (SMAs) with additional ternary or multicomponent elements can alter the SMAs' characteristic transformation temperatures, including the thermal hystereses. Two datasets are reported. The first and primary dataset documents experimental Ti-Ni-based shape memory alloys' high-transformation temperature characteristics reported in the literature. The second auxiliary dataset presented in this article was obtained following the explainable prediction of the narrow high-temperature thermal hysteresis behaviour in Ti-Ni-based high-transformation temperature SMAs (HT-SMAs). The second dataset is intended to generalise and summarise the ML prediction and visualisation of the thermal hysteresis behaviour as also observed experimentally in multiple reports elsewhere. The datasets are provided as supplementary files and the second dataset is also visualised as an intuitive marginal effects plot. We believe that these data will find applications in advancing experimental and theoretical HT-SMA research.

Hingeless arm for space robotics actuated through shape memory alloys.

Operating outside the spacecraft via remotely controlled structures is an important opportunity in different space applications. The research in this area is focused on designing robots that are sufficiently flexible to allow inspection in locations where access is difficult or impossible for astronauts, while minimizing weight and bulk. The purpose of the research is to design a borescope for space applications with no hinges or other mechanisms, exploiting biomimetic design concepts. This is pursued by giving to the borescope a backbone exoskeleton provided by a continuous structure made of fibre reinforced composite material and using NiTi wires as tendons, taking advantage of their low weight and dimensions, which allow them to be embedded between the composite layers during the lamination process. After a study of the state of the art of flexible structures, concentrated in the medical and robotic fields, the research work unfolded in two phases. In the first design phase, several composite layup solutions were considered and analysed using finite element models, leading to the definition of the borescope geometrical parameters and to an initial estimate of the displacements that can be achieved. In the second experimental phase, seven prototypes were produced and tested, with one or more wires, to validate the design and to search for a configuration that can be actuated in different directions. The borescope prototypes resulted flexible enough to achieve an extended degree of bending and at the same time sufficiently rigid to allow complete rearm of the NiTi wires. The numerical and experimental study led to the definition of the design parameters, the number of wires, and the manufacturing technique to integrate NiTi actuators.

Mechanical properties and constitutive models of shape memory alloy for structural engineering: A review.

Shape Memory Alloys (SMAs) are an innovative material with the unique features of superelasticity and energy dissipation capabilities under extreme loads. Due to their unique features, they have a great potential to be employed in structural engineering applications under different conditions. However, in order to effectively use SMAs in civil engineering structures and model their behaviors accurately in Finite Element (FE) packages, it is crucial for structural engineers to comprehend the mechanical properties and cyclic behavior of different SMA compositions under varying loading conditions. While previous studies have focused mainly on the cyclic behavior of SMAs under tensile loading, it is important to evaluate their fatigue behavior under cyclic tension-compression loading for seismic applications. This literature review aims to discuss the current gaps in the existing literature on the behavior of SMA rebars under low-cycle fatigue (LCF). The review provides a comprehensive overview of the primary characteristics of SMAs, summarizes the mechanical properties of SMAs presented in the literature and the parameters that affect them, and critically evaluates the effects of cyclic loading and LCF on SMAs. The review also provides a summary of the different constitutive models of SMAs and compares their advantages and limitations, which helps structural engineers to employ an appropriate constitutive model for predicting the accurate behavior of SMAs in FE software.

Tuning of the magneto-caloric effects in Ni43Mn46In11magnetic shape memory alloys by substitution of boron.

In this study, we report the structural, magnetic, and magnetocaloric properties of B substitution on the Mn site in Ni43Mn46-xBxIn11(x= 0.5, 1.0) Heusler alloys. Crystal structure analysis using room-temperature x-ray diffraction data reveals both samples have mixed phases composed of cubic and tetragonal phases. The structural and magnetic phase transition characteristic temperatures are determined using differential scanning calorimetry, isothermal magnetization (MT), and isofield magnetization (MH) measurements. Both alloys exhibit inverse and direct magnetocaloric effects in the vicinity of their magnetostructural transition and Curie temperature (TC), respectively. For Ni43Mn45.0B1.0In11a maximum magnetic entropy change of 25.06 J kg-1K-1is observed at 250 K for a magnetic field change of 5 T.

Thermal Stability of Cu-Al-Ni Shape Memory Alloy Thin Films Obtained by Nanometer Multilayer Deposition.

Cu-Al-Ni is a high-temperature shape memory alloy (HTSMA) with exceptional thermomechanical properties, making it an ideal active material for engineering new technologies able to operate at temperatures up to 200 °C. Recent studies revealed that these alloys exhibit a robust superelastic behavior at the nanometer scale, making them excellent candidates for developing a new generation of micro-/nano-electromechanical systems (MEMS/NEMS). The very large-scale integration (VLSI) technologies used in microelectronics are based on thin films. In the present work, 1 µm thickness thin films of 84.1Cu-12.4 Al-3.5Ni (wt.%) were obtained by solid-state diffusion from a multilayer system deposited on SiNx (200 nm)/Si substrates by e-beam evaporation. With the aim of evaluating the thermal stability of such HTSMA thin films, heating experiments were performed in situ inside the transmission electron microscope to identify the temperature at which the material was decomposed by precipitation. Their microstructure, compositional analysis, and phase identification were characterized by scanning and transmission electron microscopy equipped with energy dispersive X-ray spectrometers. The nucleation and growth of two stable phases, Cu-Al-rich alpha phase and Ni-Al-rich intermetallic, were identified during in situ heating TEM experiments between 280 and 450 °C. These findings show that the used production method produces an HTSMA with high thermal stability and paves the road for developing high-temperature MEMS/NEMS using shape memory and superelastic technologies.

Easy-To-Wear Auxetic SMA Knot-Architecture for Spatiotemporal and Multimodal Haptic Feedbacks.

Wearable haptic interfaces prioritize user comfort, but also value the ability to provide diverse feedback patterns for immersive interactions with the virtual or augmented reality. Here, to provide both comfort and diverse tactile feedback, an easy-to-wear and multimodal wearable haptic auxetic fabric (WHAF) is prepared by knotting shape-memory alloy wires into an auxetic-structured fabric. This unique meta-design allows the WHAF to completely expand and contract in 3D, providing superior size-fitting and shape-fitting capabilities. Additionally, a microscale thin layer of Parylene is coated on the surface to create electrically separated zones within the WHAF, featuring zone-specified actuation for conveying diverse spatiotemporal information to users with using the WHAF alone. Depending on the body part it is worn on, the WHAF conveys either cutaneous or kinesthetic feedback, thus, working as a multimodal wearable haptic interface. As a result, when worn on the forearm, the WHAF intuitively provides spatiotemporal information to users during hands-free navigation and teleoperation in virtual reality, and when worn on the elbow, the WHAF guides users to reach the desired elbow flexion, like a personal exercise advisor.

Microstructural mechanisms of hysteresis and transformation width in NiTi alloy from molecular dynamics simulations.

Martensitic transformations in shape memory alloys are often accompanied by thermal hysteresis, and engineering this property is of prime scientific interest. The martensitic transformation can be characterized as thermoelastic, where the extent of the transformation is determined by a balance between thermodynamic driving force and stored elastic energy. Here we used molecular dynamics simulations of the NiTi alloy to explore hysteresis-inducing mechanisms and thermoelastic behavior by progressively increasing microstructural constraints from single crystals to bi-crystals to polycrystals. In defect-free single crystals, the austenite-martensite interface moves unimpeded with a high velocity. In bi-crystals, grain boundaries act as significant obstacles to the transformation and produce hysteresis by requiring additional nucleation events. In polycrystals, the transformation is further limited by the thermoelastic balance. The stored elastic energy can be converted to mechanisms of non-elastic strain accommodation, which also produce hysteresis. We further demonstrated that the thermoelastic behavior can be controlled by adjusting microstructural constraints.