Research on reset compensation mechanism based on SMA soft actuator

Bionic actuators that employ shape memory alloys (SMA) demonstrate considerable potential for use in robotics due to their exceptional deformability and adaptability. This paper presents a novel SMA-based soft actuator with a double-sided bending function, enabling independent control of both sides to achieve varying degrees of bending. Specifically, after bending occurs on one side, the actuator is reset using a reset system consisting of a high-elasticity wire (HES). Subsequently, the opposite side is bent, ensuring effective resetting. This innovative approach significantly enhances the reset performance in multiple directions, effectively accommodating complex movement requirements. Experimental results indicate that this actuator successfully addresses challenges, such as delays or difficulties in resetting caused by heat accumulation during the heating process, which is a common issue in traditional SMA soft actuators. Moreover, it substantially improves both resetting capability and efficiency. As such, this SMA soft actuator presents a groundbreaking solution for the field of bionic intelligent robots and holds broad potential for practical applications.