{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T17:42:36Z","timestamp":1782409356747,"version":"3.54.5"},"reference-count":34,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,2,11]],"date-time":"2023-02-11T00:00:00Z","timestamp":1676073600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents the design, fabrication and testing of a shape memory alloy (SMA)-actuated monolithic compliant gripping mechanism that enables translational motion of the gripper tips for grasping operation suitable for micromanipulation and microassembly. The design is validated using a finite element analysis (FEA), and a prototype is created for experimental testing. The reported gripping structure is simple and easy to build and design. The gripper is demonstrated to have a displacement amplification gain of 3.7 that allows maximum tip displacement up to 1.2 cm to possess good handling range and geometric advantage which cannot be accomplished by conventional grippers. The position of the gripper tip is predicted from the variation in the electrical resistance of the SMA wire based on the self-sensing phenomena. Self-sensing actuation of the SMA allows the design of a compact and lightweight structure; moreover, it supports the control loop\/scheme to use the same SMA element both as an actuator and sensor for position control. The geometrical dimensions of the SMA wire-actuated monolithic compliant gripper is 0.09 m \u00d7 0.04 m and can be operated to handle objects with a maximum size of 0.012 m weighing up to 35 g.<\/jats:p>","DOI":"10.3390\/s23042052","type":"journal-article","created":{"date-parts":[[2023,2,13]],"date-time":"2023-02-13T02:14:11Z","timestamp":1676254451000},"page":"2052","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Design and Control of Monolithic Compliant Gripper Using Shape Memory Alloy Wires"],"prefix":"10.3390","volume":"23","author":[{"given":"Ganapathy","family":"Then Mozhi","sequence":"first","affiliation":[{"name":"Department of Instrumentation and Control Engineering, National Institute of Technology, Tiruchirappalli 620015, Tamil Nadu, India"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4067-7513","authenticated-orcid":false,"given":"Kaliaperumal","family":"Dhanalakshmi","sequence":"additional","affiliation":[{"name":"Department of Instrumentation and Control Engineering, National Institute of Technology, Tiruchirappalli 620015, Tamil Nadu, India"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6262-2815","authenticated-orcid":false,"given":"Seung-Bok","family":"Choi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, The State University of New York, Korea (SUNY Korea), Incheon 21985, Republic of Korea"},{"name":"Department of Mechanical Engineering, Industrial University of Ho Chi Minh City (IUH), Ho Chi Minh City 70000, Vietnam"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1350","DOI":"10.1016\/j.ijmachtools.2005.10.009","article-title":"Design and feasibility tests of a flexible gripper based on inflatable rubber pockets","volume":"46","author":"Choi","year":"2006","journal-title":"Int. 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