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Intelligent Robotics Laboratory Vanderbilt School of Engineering Artificial Muscle based on Flexinol motor wire Scott Renkes Advisor: David Noelle Intelligent Robotics Laboratory Vanderbilt School of Engineering Purpose Design a new actuator Robotics Prosthetics Teleoperation Current technology Electric motors Hydraulics Pneumatics Intelligent Robotics Laboratory Vanderbilt School of Engineering 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 Intelligent Robotics Laboratory Vanderbilt School of Engineering Fibrous Bundled Structure Flexinol motor wire to replace muscle fibers Package wires similar to muscle Flexinol/muscle fiber proportional elasticity Similar force/length curves Intelligent Robotics Laboratory Vanderbilt School of Engineering 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 Intelligent Robotics Laboratory Vanderbilt School of Engineering EMG Controller Muscle Voltage vs Muscle Force EMG signals represent muscle force Neural Network for EMG pattern recognition Intelligent Robotics Laboratory Vanderbilt School of Engineering Project Status Completed 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 Intelligent Robotics Laboratory Vanderbilt School of Engineering Future Work Design and build active cooling system driven by actuator forces Code user friendly interface for training and controlling neural network Intelligent Robotics Laboratory Vanderbilt School of Engineering Questions?