A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers, part II: modelling and control
Why this work is in the frame
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Bibliographic record
Abstract
SUMMARY In this paper, the dynamics and biomimetic control of an artificial finger joint actuated by two opposing one-way shape memory alloy (SMA) muscle wires that are configured in a double spring-biased agonist–antagonist fashion is presented. This actuation system, which was described in Part I, forms the basis for biomimetic tendon-driven flexion/extension and abduction/adduction of the artificial finger. The work presented in this paper centres on thermomechanical modelling of the SMA wire, including both major and minor hysteresis loops in the phase transformation model, and co-operative control strategy of the agonist–antagonist muscle pair using a pulse-width-modulated proportional-integral-derivation (PWM–PID) controller. Parametric analysis and identification are carried out based on both simulation and experimental results. The performance advantage of the proposed co-operative control is shown using the metacarpophalangeal joint of the artificial finger.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it