{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:32:22Z","timestamp":1760239942996,"version":"build-2065373602"},"reference-count":12,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2019,2,18]],"date-time":"2019-02-18T00:00:00Z","timestamp":1550448000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP17H03162"],"award-info":[{"award-number":["JP17H03162"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper proposes a new shape memory alloy (SMA)-driven compliant rotary actuator that can perform both passive and self-actuated motions. This SMA actuator is suitable as a redundant actuation part in a parallel robot joint to assist with singularity postures where the robot might lose the ability to maintain the position and orientation of the end effector. The double helical compliant joint (DHCJ) was chosen as a candidate mechanism; it can act in soft compliance with linear characteristics and a wide range of motion. The experimental results validated that the proposed model can be used to simulate the DHCJ behavior. The use of this mechanism exhibits advantages such as one-axis rotational motion, linear behavior even for a compliant mechanism, stiffness in the other axes of motion, and compact size. SMA leaves (strips) were used as actuation parts, and a single SMA leaf was tested before combining with the double helical frame as an SMA actuator. The prototype was fabricated, and necessary parameters such as deflection angle, temperature, torque, and stress\u2013strain were collected to define the model for a controller. This actuator is controlled by a feedforward controller and provides rotational motion for both forward and reverse sides with a maximal range of 40 degrees.<\/jats:p>","DOI":"10.3390\/robotics8010012","type":"journal-article","created":{"date-parts":[[2019,2,19]],"date-time":"2019-02-19T04:08:20Z","timestamp":1550549300000},"page":"12","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Development of a Novel SMA-Driven Compliant Rotary Actuator Based on a Double Helical Structure"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5946-4828","authenticated-orcid":false,"given":"Rasheed","family":"Kittinanthapanya","sequence":"first","affiliation":[{"name":"School of Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0222-7180","authenticated-orcid":false,"given":"Yusuke","family":"Sugahara","sequence":"additional","affiliation":[{"name":"School of Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4898-4689","authenticated-orcid":false,"given":"Daisuke","family":"Matsuura","sequence":"additional","affiliation":[{"name":"School of Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6910-3329","authenticated-orcid":false,"given":"Yukio","family":"Takeda","sequence":"additional","affiliation":[{"name":"School of Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,2,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1699","DOI":"10.1177\/1045389X16679296","article-title":"Designing shape memory alloy linear actuators: A review","volume":"28","author":"Jani","year":"2017","journal-title":"J. Intell. Mater. Syst. Struct."},{"key":"ref_2","first-page":"2","article-title":"Modeling and Temperature Control of Shape Memory Alloys With Fast Electrical Heating","volume":"13","author":"Ramio","year":"2012","journal-title":"Int. J. Mech. Control"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Farias, V., Solis, L., Melendez, L., Garcia, C., and Velazquez, R. (2009, January 23\u201325). A four-fingered robot hand with shape memory alloys. Proceedings of the AFRICON 2009, Nairobi, Kenya.","DOI":"10.1109\/AFRCON.2009.5308403"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1231","DOI":"10.1016\/j.mechatronics.2014.10.010","article-title":"Experimental study of a bio-inspired robotic morphing wing mechanism actuated by shape memory alloy wires","volume":"24","author":"Hamid","year":"2014","journal-title":"Mechatronics"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1007\/978-3-319-45450-4_34","article-title":"Compliant Rotary Actuator Driven by Shape Memory Alloy","volume":"46","author":"Yuan","year":"2017","journal-title":"Mech. Trans. Robot. Mech. Machine Sci."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"635","DOI":"10.1016\/S0957-4158(98)00023-3","article-title":"Design aspects of shape memory actuators","volume":"8","author":"Reynaerts","year":"1998","journal-title":"Mechatronics"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1299\/jamdsm.6.76","article-title":"A New Flexure Revolute Joint with Leaf springs and Its Application to Large Workspace Parallel Robot","volume":"6","author":"Yonemoto","year":"2012","journal-title":"J. Adv. Mech. Design Syst. Manuf."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Modler, N., Modler, K.H., Hufenbach, W., Lovasz, E.C., Perju, D., and Margineanu, D. (2009, January 12\u201315). A Design of Compliant Mechanism with Integrated Actuators. Proceedings of the 10th IFToMM International Symposium on Science of Mechanisms and Machines, Brasov, Romania.","DOI":"10.1007\/978-90-481-3522-6_55"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1177\/0278364906061512","article-title":"Micro-Manipulation System Design Based On Selective-Actuation Mechanisms","volume":"25","author":"Hoang","year":"2006","journal-title":"Int. J. Rob. Res."},{"key":"ref_10","unstructured":"Kittinanthapanya, R., Sugahara, Y., Matsuura, D., and Takeda, Y. (December, January 29). Modeling and Char- acterization of the Double Helical Compliant Joint. Proceedings of the International Symposium on Robotics & Mechatronics 2017, Sydney, Australia."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"021018","DOI":"10.1115\/1.4031028","article-title":"Modeling Large Planar Deflections of Flexible Beams in Compliant Mechanisms Using Chained Beam-Constraint-Model","volume":"8","author":"Ma","year":"2016","journal-title":"J. Mech. Robot."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1177\/1045389X9700800402","article-title":"One-dimensional Thermomechanical Constitutive Relations for Shape Memory Alloy Material","volume":"8","author":"Liang","year":"1997","journal-title":"J. Intell. Mater. Struct."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/8\/1\/12\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:32:51Z","timestamp":1760185971000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/8\/1\/12"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,18]]},"references-count":12,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2019,3]]}},"alternative-id":["robotics8010012"],"URL":"https:\/\/doi.org\/10.3390\/robotics8010012","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2019,2,18]]}}}