Page 252 - Flexible Robotics in Medicine
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Soft-bodied flexible bending mechanism with silent shape memory alloys 241
Figure 10.6
Bending of the tentacle structure. (A) Schematic showing the actuation mechanism of the
tentacle structure when the input current is applied to the SMA (active period 5 2 s, relaxation
period 5 2 s). (B) Schematic showing the measurement of the bending angle (θ) of the tentacle
structure during actuation.
Figure 10.7
Bending of the tentacle. (A) Time lapse showing the bending of the tentacle actuated at 1 A in one
direction (front view). (B) Change in the input current with time for one actuation cycle. (C) The
time-resolved bending angle of the tentacle when actuated at different input currents (0.5 1.5 A).
(D) Bending angle of the tentacle when actuated at different input currents (0.5 1.5 A).
