Biologically inspired anthropomorphic arm and dextrous robot hand actuated by smart-material-based artificial muscles
Bibliographic record
Abstract
Shape memory alloys (SMA) are a class of smart material having the unique ability to return to a predefined shape when heated. SMA based actuators have the potential to be very compact and low weight. As a result, much research has been devoted to the design of SMA based actuators; however, commercialization has been largely impeded by the small strain capacity inherent to SMA. To address this deficiency, this paper conveys the design of a large-strain SMA actuator (in excess of 30%) whose feasibility is investigated by integrating the actuators as artificial muscles in a two link anthropomorphic arm. The ensuing experimental results indicate that the actuators show great potential for a variety of emerging applications. Finally the design of an SMA based dextrous robotic hand evaluation facility is proposed, and provides a case study illustrating how smart structures provide a superior alternative to conventionally voluminous and heavy prosthetic actuators.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 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) | 0.001 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".