Comparison Among Different Modular SMA Actuated Flexible Fingers

  • Daniela MaffiodoEmail author
  • Terenziano Raparelli
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 68)


Four prototypes of a flexible finger, each made up of three actuator modules based on shape memory alloy (SMA) wires, are experimentally studied in this research. A module is basically composed by few simple components: a plastic body, made of different materials, and SMA wires. The bending of the module is performed with the heating and cooling of the SMA wires and the central rod exerts bias force, necessary to the stretching of the wire to the original shape. To evaluate the actuator workspace different tests were performed, and the results of three prototypes are compared. Finally a more complex prototype in which the antagonist wires can be deactivated during the working cycle was designed and preliminary tests were performed, obtaining encouraging results.


Shape memory alloy SMA wires Flexible actuator Modular actuator Experimental test 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.DIMEASPolitecnico di TorinoTurinItaly

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