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. 2022 May 17;9:888261. doi: 10.3389/frobt.2022.888261

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Copyright © 2022 Sabelhaus, Mehta, Wertz and Majidi.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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(A) This article develops a framework for sensing and dynamics modeling of a soft, planar, electrothermally-actuated shape memory alloy (SMA) robot limb. (B) The prototype soft limb has a single degree-of-freedom, θ, for planar motion. (C) The limb is cast from bulk silicone (C1), and is actuated by two shape memory alloy (SMA) coils (C2) contained in a ridge along both sides of the limb. Our sensors include thermocouples attached to each SMA (C3) and a soft bending sensor (C4) for deflection and temperature measurements. Full assembly is detailed below. (D) Our framework consists of data collection of the limb undergoing various motions, used to train our LSTM neural network, with the outputs validated in simulated rollouts of deflection angle.