Romansy 14 pp 527-536 | Cite as

Force and Position Control of a SMA Actuated Endoscope

  • Vincent de Sars
  • Jérôme Szewczyk
  • Philippe Bidaud
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


An active endoscope actuated by Shape Memory Alloy wires and featured with a force sensor has been developed. In this paper we describe the way SMA actuators are designed and controlled at the low level. Dynamic response of SMA antagonist actuators is improve by estimation of the phase material using electrical resistance measurement. Experimentations on endoscope bending control and external force control show good results in terms of precision and robustness.


Position Control Shape Memory Alloy Force Sensor Shape Memory Alloy Wire Shape Memory Alloy Actuate 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Vincent de Sars
    • 1
  • Jérôme Szewczyk
    • 1
  • Philippe Bidaud
    • 1
  1. 1.Laboratoire de Robotique de Paris 6Université de Paris 6ParisFrance

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