Three-Dimensional Hysteresis Modeling of Robotic Artificial Muscles with Application to Shape Memory Alloy Actuators

Robotic artificial muscles are increasingly popular in novel robotic applications. Their full utilization is challenged by the three-dimensional and coupled hysteresis nonlinearities among input, strain, and tension force. No prior studies on three-dimensional hysteresis models with coupled variables have been reported for robotic artificial muscles. This paper presents an approach to capturing and estimating the three-dimensional hysteresis in shape memory alloy (SMA) actuators. Experimental results confirm that the proposed scheme is effective. This study can be applied towards other robotic artificial muscles.

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