Shape Memory Alloy Actuators in Robotics

Shape memory alloys (SMAs) are materials that, when used as actuators, can generate deformation and force that can be used to perform mechanical work. This actuation capability is driven by temperature variation, which induces a reversible phase transformation between martensite (at low temperature) and austenite (at high temperature). Owing to their advantages, SMAs are widely applied as actuators and, in certain applications, can be more suitable than other actuation technologies. A thorough understanding of SMA actuator characteristics is therefore essential for their effective implementation in practical applications. This article provides an overview of the most important properties of SMA actuators. In addition, it reviews the application potential of SMA actuators in robotics. Based on the survey of the literature, perspectives for further research and development in this field are also presented.