TY - GEN
T1 - SMA-TENG Actuator with Tactile Sensing Capability
AU - Zhang, Yiping
AU - Liu, Zihe
AU - Xu, Xi
AU - Jin, Jiaqi
AU - Yang, Boan
AU - Wen, Li
AU - Ren, Ziyu
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - Shape memory alloy (SMA) is widely employed in developing actuators. However, the lack of sensing capabilities limits its application. This study presents a sensing-actuation integrated device based on SMA and triboelectric nanogenerator (TENG), achieving tactile sensing while maintaining the actuation performance. The proposed core-shell structure not only repurposes the SMA spring as a key component of actuation and sensing, but also effectively isolates the actuation current to prevent interference with the sensing signal. The aerogel-modified silicone composite layer is applied to the SMA to reduce temperature rise by 30.56%, ensuring the sensing performance. With a rapid response time of less than 31 ms and stable sensing performance exceeding 2000 cycles, the SMA-TENG actuator reliably detects dynamically varying forces and bending. Additionally, it generates a maximum actuation force of 3.21 N, which represents a 12.2% increase compared to a standard SMA spring, due to the pre-stress introduced by the composite layer. Moreover, it can actuate a displacement of 7.7 cm and exhibiting a power density of 7.15 × 103 W/m3 (at 0.84 V, 6 A). Finally, we validate its haptic sensing capability during actuation, demonstrating its potential towards interactive robotic systems.
AB - Shape memory alloy (SMA) is widely employed in developing actuators. However, the lack of sensing capabilities limits its application. This study presents a sensing-actuation integrated device based on SMA and triboelectric nanogenerator (TENG), achieving tactile sensing while maintaining the actuation performance. The proposed core-shell structure not only repurposes the SMA spring as a key component of actuation and sensing, but also effectively isolates the actuation current to prevent interference with the sensing signal. The aerogel-modified silicone composite layer is applied to the SMA to reduce temperature rise by 30.56%, ensuring the sensing performance. With a rapid response time of less than 31 ms and stable sensing performance exceeding 2000 cycles, the SMA-TENG actuator reliably detects dynamically varying forces and bending. Additionally, it generates a maximum actuation force of 3.21 N, which represents a 12.2% increase compared to a standard SMA spring, due to the pre-stress introduced by the composite layer. Moreover, it can actuate a displacement of 7.7 cm and exhibiting a power density of 7.15 × 103 W/m3 (at 0.84 V, 6 A). Finally, we validate its haptic sensing capability during actuation, demonstrating its potential towards interactive robotic systems.
UR - https://www.scopus.com/pages/publications/105029984998
U2 - 10.1109/IROS60139.2025.11246367
DO - 10.1109/IROS60139.2025.11246367
M3 - 会议稿件
AN - SCOPUS:105029984998
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7383
EP - 7390
BT - IROS 2025 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Conference Proceedings
A2 - Laugier, Christian
A2 - Renzaglia, Alessandro
A2 - Atanasov, Nikolay
A2 - Birchfield, Stan
A2 - Cielniak, Grzegorz
A2 - De Mattos, Leonardo
A2 - Fiorini, Laura
A2 - Giguere, Philippe
A2 - Hashimoto, Kenji
A2 - Ibanez-Guzman, Javier
A2 - Kamegawa, Tetsushi
A2 - Lee, Jinoh
A2 - Loianno, Giuseppe
A2 - Luck, Kevin
A2 - Maruyama, Hisataka
A2 - Martinet, Philippe
A2 - Moradi, Hadi
A2 - Nunes, Urbano
A2 - Pettre, Julien
A2 - Pretto, Alberto
A2 - Ranzani, Tommaso
A2 - Ronnau, Arne
A2 - Rossi, Silvia
A2 - Rouse, Elliott
A2 - Ruggiero, Fabio
A2 - Simonin, Olivier
A2 - Wang, Danwei
A2 - Yang, Ming
A2 - Yoshida, Eiichi
A2 - Zhao, Huijing
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025
Y2 - 19 October 2025 through 25 October 2025
ER -