1. Artificial Muscle based on Flexinol motor wire
Scott Renkes
Advisor: David Noelle

2. Purpose Design a new actuator Current technology Robotics Prosthetics
Teleoperation
Current technology
Electric motors
Hydraulics
Pneumatics

3. Why a new actuator? Replicate human movement
Refined force and velocity control of device
Human like movement allows for better man machine integration
Humanoid robots can more easily mimic humans

4. Fibrous Bundled Structure
Flexinol motor wire to replace muscle fibers
Package wires similar to muscle
Flexinol/muscle fiber proportional elasticity
Similar force/length curves

5. Uncle Brain wants YOU! One bundle, one neuron Weak fast, slow strong
Properties of motor wire allow for variety of activation
Neural Network Controller
Force feedback training
Inverse Dynamics

6. EMG Controller Muscle Voltage vs Muscle Force
EMG signals represent muscle force
Neural Network for EMG pattern recognition

7. Project Status Completed work Current Work
Study properties of motor wire
Calculate efficiency of passive cooling
Develop Structure and Control for the device
Design test bed
Examine neural network solution
Current Work
Finish building actuator and cooling system

8. Future Work
Design and build active cooling system driven by actuator forces
Code user friendly interface for training and controlling neural network

9. Questions?