Design a model-based shape memory alloy wire controller in order to force control a two degrees of freedom hand finger

This paper presents a model-based controller for shape memory alloy (SMA) wire. The main goal of this controller is force control of a two degrees of freedom (DOF) hand finger in order for gripping different things. The controller is applied to a SMA hand finger that tracks user’s desired stress. For this purpose, general SMA relations and finger equilibrium equations have been combined to obtaining necessary voltage for applying to SMA wire. Phase transformation model that has been used for this work is the one that Brinson represented and has a perfect admissibility through engineering works. MATLAB simulations confirm the effectiveness of the controller.