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WO2025190627A1 - Actionneur comprenant un élément à mémoire de forme et dispositif de positionnement comprenant un tel actionneur - Google Patents

Actionneur comprenant un élément à mémoire de forme et dispositif de positionnement comprenant un tel actionneur

Info

Publication number
WO2025190627A1
WO2025190627A1 PCT/EP2025/054561 EP2025054561W WO2025190627A1 WO 2025190627 A1 WO2025190627 A1 WO 2025190627A1 EP 2025054561 W EP2025054561 W EP 2025054561W WO 2025190627 A1 WO2025190627 A1 WO 2025190627A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
wire
fastening point
axis
section
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2025/054561
Other languages
German (de)
English (en)
Inventor
Michael Hohmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Physik Instrumente Pi Se & Co Kg
Original Assignee
Physik Instrumente Pi Se & Co Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Physik Instrumente Pi Se & Co Kg filed Critical Physik Instrumente Pi Se & Co Kg
Publication of WO2025190627A1 publication Critical patent/WO2025190627A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/061—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element
    • F03G7/0614—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element using shape memory elements
    • F03G7/06143—Wires
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/063—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the mechanic interaction
    • F03G7/0633—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the mechanic interaction performing a rotary movement

Definitions

  • Actuator with shape memory element and positioning device comprising such an actuator
  • the present invention relates to an actuator with a shape memory element, in particular a wire made of a shape memory alloy.
  • Such an actuator is known, for example, from EP 1 593 844 A1.
  • This known actuator comprises a circular disc as the actuating element, along whose circumference a wire made of a shape memory alloy is guided and fastened at a point on the circumference of the disc. Furthermore, the ends of the wire are each fastened to a structure that is stationary with respect to the disc. By thermally activating a wire section, the length of this wire section can be changed, in particular shortened, whereby an adjustment of the disc in the circumferential direction (rotational movement) can be achieved.
  • the actuator further comprises a spring that helps to hold the disc in two defined rotational positions.
  • a disadvantage of the known actuator is the limited adjustability of the disc relative to the size of the actuator. Because the wire is guided along the circumference of the disc and also attached to a point on the circumference, the possible amount of rotational movement—i.e., the adjustment movement of the disc when a section of the wire is activated—is small. A larger adjustment movement can only be achieved with this actuator by enlarging the disc and a corresponding lengthening of the wire, which, however, would result in a larger actuator.
  • the present invention is therefore based on the object of providing an actuator which, with a compact design, can carry out a sufficiently large actuating movement of an actuating element.
  • the actuator comprises a rotation element which is rotatable about an axis, a deflection element which is arranged on the rotation element centrally with respect to the axis, at least one inner fastening point which is arranged on the rotation element eccentrically with respect to the axis, at least one outer fastening point which is arranged stationary with respect to the axis, and at least one wire made of a shape memory alloy, wherein the at least one wire is fastened to the at least one inner fastening point and the at least one outer fastening point and upon thermal activation at at least one circumferential section of the deflection element.
  • the wire is routed from the stationary outer fastening point via the deflection element to the inner fastening point eccentrically arranged on the rotating element, a sufficiently large actuating movement of the rotating element can be achieved upon thermal activation of the wire with a compact actuator design. Because the wire rests tangentially on the deflection element during thermal activation, a moving kink, which could lead to wire breakage, is avoided.
  • the rotary element can be adjusted between two, preferably lockable, rotational positions. This provides a bistable actuator with at least two switching states.
  • the actuator comprises two outer attachment points, each fixed relative to the axis, preferably on the same side of the actuator, with the at least one wire being attached to the at least one inner attachment point and the two outer attachment points. This allows the rotation element to be adjusted in both mutually opposite directions of rotation.
  • the deflection element is configured to deflect a section of the at least one wire by at least 90°, preferably by at least 135°, particularly preferably by at least 180°. A greater deflection of the wire by the deflection element enables a greater adjustment movement of the rotation element.
  • the at least one wire may prove practical if a section of the at least one wire is routed from the deflection element to the at least one inner fastening point, and another section of the at least one wire is routed from the at least one inner fastening point to the deflection element.
  • the at least one wire completely surrounds the deflection element, although multiple wrapping of the wire around the deflection element is also conceivable.
  • the deflection element is formed by a deflection pulley, which is preferably equipped with at least one circumferential groove for guiding the at least one wire.
  • a deflection pulley especially one with a circumferential groove, is capable of securely guiding the wire and prevents the wire from becoming loose from its intended position.
  • the rotary element has at least one projection on its circumference, wherein the rotary element is preferably disc-shaped or plate-shaped, and the deflecting element, the at least one inner fastening point, and the projection particularly preferably lie on a common line.
  • an adjusting section can be provided which is intended for engagement or contact with a movable element provided independently of the actuator in order to permit or block movement of the movable element.
  • the arrangement of the deflecting element, the at least one inner fastening point, and the projection on a common line favors a symmetrical design of the actuator.
  • the at least one wire is a single wire or comprises two separate wires, which are preferably attached to the at least one internal fastening point or connected to each other.
  • the at least one wire may be expedient to use a single wire or two separate wires.
  • the at least one inner fastening point comprises a sleeve, in particular a crimp connector, into which a portion of the at least one wire is inserted and another portion of the at least one wire is led out again on the same side, and two pins arranged on the rotating element, between which the at least one wire is passed and which support the sleeve.
  • a crimp connector into which a portion of the at least one wire is inserted and another portion of the at least one wire is led out again on the same side, and two pins arranged on the rotating element, between which the at least one wire is passed and which support the sleeve.
  • the at least one inner fastening point and the at least one outer fastening point may be designed as electrical contacts and preferably comprise sleeves, in particular crimp connectors, with the at least one inner fastening point particularly preferably being designed as a ground contact.
  • the at least one inner and at least one outer fastening point also provide electrical contact for the at least one wire.
  • the actuator further comprises a base on which the rotating element and the at least one external attachment point are arranged. This allows the actuator to be configured as a self-contained and stand-alone component. It may be advantageous if the actuator further comprises a locking device configured to lock the rotating element in a first rotational position or in a second rotational position. This allows defined working or functional positions of the rotating element or the projection of the rotating element to be established. Of course, it is conceivable to design the locking device in such a way that the rotating element can be locked in more than two rotational positions.
  • the locking device has two stops which are designed to limit a rotational movement of the rotary element about the axis in one direction and the other direction at a target position by coming into contact with a contact section of the rotary element.
  • the contact section can in particular be a protruding section on the circumference of the rotary element.
  • the contact section is located opposite the above-described projection, which serves as the adjusting section, with respect to the axis.
  • the stops can limit the adjusting movement of the rotary element to a specific range, which can be useful, for example, with regard to installation space requirements.
  • the actuator may further comprise a power source configured to independently apply electrical current to a first section of the at least one wire and a second section of the at least one wire, which is different from the first section, and thus thermally activate them.
  • a power source configured to independently apply electrical current to a first section of the at least one wire and a second section of the at least one wire, which is different from the first section, and thus thermally activate them.
  • the wire sections made of shape memory alloy can be easily heated, resulting in a change in length, in particular a shortening, of the respective wire sections.
  • the use of a shape memory alloy wire to drive the rotating element generally favors a compact design of the actuator, since, for example, a wire with a diameter of 150 pm enables a force of 6 N at an elongation of approximately 3-5%.
  • the actuator according to the invention can be designed so compactly that in its main direction of extension it corresponds approximately to the diameter of a 1-euro cent coin.
  • the actuator since the actuator only generates waste heat during the switching process (thermal activation), i.e. it does not represent a permanent heat source, it is particularly suitable for use in precision products.
  • a further aspect of the present invention relates to a positioning device comprising an actuator according to any one of the preceding embodiments and a movable element, wherein the actuator can be switched to block or allow movement of the movable element in a direction parallel to the axis.
  • the "at least one shape memory alloy wire” may be a single wire made of a shape memory alloy. Alternatively, it may be several, in particular two, separate (individual) wires, each made of a shape memory alloy.
  • a “portion of the at least one wire” describes a portion of the single wire or a portion of a separate (individual), in particular a first or second, wire or a separate, i.e. the first or second, wire per se.
  • Fig. 1 a schematic view of an actuator 1 according to the invention to explain the
  • Fig. 2 a schematic view of an actuator 1 according to the invention to explain the
  • FIG. 3 a perspective view of an actuator according to the invention according to a concrete
  • Fig. 4 a plan view of an actuator according to the invention according to a further concrete
  • the actuator 1 comprises a substantially disc-shaped rotating element 2, which is mounted for rotation about an axis A, and a deflecting element 4 designed as a deflecting pulley, which is arranged on an upper side of the rotating element 2 centrally with respect to the axis A.
  • the deflecting element 4 can be rotatable relative to the rotating element 2 or can be fixedly connected to the rotating element 2.
  • the actuator 1 comprises an inner fastening point 6, which is arranged eccentrically on the rotating element 2 with respect to the axis A and is firmly connected to the rotating element 2. Accordingly, the inner fastening point 6 is provided on the upper side of the rotating element 2, spaced radially from the axis A and/or the deflecting element 4.
  • a first outer fastening point 8a and a second outer fastening point 8b are arranged stationary with respect to the axis A and are thus provided independently, in particular outside the rotating element 2.
  • the first and second outer fastening points 8a, 8b are located on the same side of the actuator 1 with respect to the rotating element 2 and on opposite sides of the actuator 1 with respect to a plane of symmetry of the actuator 1 that includes the axis A.
  • the wire 3a runs between the first outer attachment point 8a and the inner attachment point 6, wherein it is guided at least partially around the deflection element 4.
  • the wire 3b runs between the second outer fastening point 8b and the inner fastening point 6, wherein its course is guided at least partially around the deflection element 4.
  • a single wire can alternatively be used, which is attached to the inner fastening point 6 but also continues from there.
  • the wires 3a and 3b would be sections or components of this single wire.
  • the inner fastening point 6, the first outer fastening point 8a, and the second outer fastening point 8b function not only as purely mechanical fastening points, but also provide electrical contact between the wires 3a and 3b.
  • the wires 3a and 3b can be supplied with electrical current independently of one another. As mentioned above, only three electrical contacts on the actuator 1 are required for this.
  • Fig. 1 shows a thermal activation of the wire 3b, while the wire 3a remains inactive.
  • the wire 3b shortens due to the thermal activation, whereby it rests tangentially on the deflection element 4, at least in sections, and ultimately exerts a force on the inner fastening point 6, which moves the inner fastening point 6 on a circular path clockwise.
  • the rotating element 2, to which the inner fastening point 6 is connected, thereby undergoes a clockwise rotational movement (in a plan view of the actuator 1).
  • the rotational movement of the rotating element 2 stretches the inactive wire 3a (antagonist-antagonist principle).
  • Fig. 2 shows a thermal activation of the wire 3a, while the wire 3b remains inactive.
  • the wire 3a shortens due to thermal activation, whereby it rests tangentially on the deflection element 4, at least in sections, and ultimately exerts a force on the inner fastening point 6, which moves the inner fastening point 6 counterclockwise on a circular path.
  • the rotating element 2, to which the inner fastening point 6 is connected thus undergoes a counterclockwise rotational movement (when viewed from above on the actuator 1).
  • the rotational movement of the rotating element 2 stretches the inactive wire 3b (antagonist-antagonist principle).
  • the rotation element 2 can be adjusted between a first and a second rotational position, which represent target positions of the rotation element 2.
  • a locking device By means of a locking device, the rotation element 2 can be locked in the two Rotational positions or target positions are locked so that, after locking, the corresponding target position is fixed or held even without further thermal activation of the respective wire, i.e., without energy.
  • the locking device comprises, for example, a pressure piece 7 preloaded against the rotation element 2 by a spring, as well as first and second recesses 2b, 2c provided on the rotation element 2, into which the pressure piece 7 can engage (lock).
  • the first and second recesses 2b, 2c are provided on a circumferential side of the rotation element 2.
  • the actuator 1 is therefore a bistable actuator.
  • the switching states are related in particular to a projection 2a, which is provided on the circumferential side of the rotary element 2 and protrudes radially from the rotary element 2.
  • the projection 2a serves as an actuating section of the actuator 1, which is provided for engagement or contact with a movable element provided independently of the actuator 1, and can block or permit an externally triggered movement of this movable element.
  • a movement of the movable element caused by the actuating section of the actuator 1 is also conceivable.
  • the actuator 1 comprises a block-shaped base 9 on which the rotation element 2 and the first and second outer fastening points 8a, 8b are mounted.
  • the deflection element 4 comprises two grooves for guiding the wire 3, which are formed on the circumference of the deflection element 4 and spaced apart from each other in the axial direction.
  • the wire section 3a is guided in one groove and the wire section 3b in the other groove.
  • the inner fastening point 6 comprises a sleeve 6c, in particular a crimp connector, into which the two wire sections 3a, 3b are inserted and in which the wire is bent and secured.
  • a sleeve 6c in particular a crimp connector
  • both wires are secured in the sleeve 6c and, if necessary, connected to each other.
  • Two pins are provided on the rotating element 2. 6a, 6b.
  • the two pins 6a, 6b are arranged in particular on a projection (contact section) 2d of the rotating element 2, which is opposite the previously described projection 2a.
  • the wire sections 3a, 3b, which are guided into the sleeve 6c, are guided between the pins 6a, 6b, so that the sleeve 6c can be supported on the pins 6a, 6b.
  • the outer fastening points 8a, 8b can also be designed as sleeves, in particular as crimp connectors, or, as shown in Fig. 3, as screw terminals.
  • the inner fastening point 6 and the two outer fastening points 8a, 8b are designed as electrical contacts, whereby the inner fastening point 6 can be designed as a ground contact.
  • the locking device comprises two pressure pieces 7, each having a spherical head, which are inserted into corresponding recesses in the base 9, wherein the spherical head of each of the pressure pieces 7 is pressed towards the rotating element 2 by means of a spring. Furthermore, the locking device has two stops 5a, 5b arranged as pins on the base 9, whereby only one of the pressure pieces 7 is visible in Fig. 3. Both the two pressure pieces 7 and the two stops 5a, 5b are opposite one another with respect to a plane of symmetry of the actuator 1, which includes the axis A. If, during an actuated rotary movement, the rotary element 2 comes into contact with one of the two stops 5a, 5b (stop 5b in Fig.
  • one of the pressure pieces 7 engages laterally on the opposite side of the contact section 2d in such a way that it presses it towards the corresponding stop 5a, 5b (stop 5b in Fig. 3), thus fixing or locking the respective target position of the rotary element 2 without the use of energy. It is also conceivable for the two pressure pieces 7 to engage in depressions or recesses provided on the underside of the rotary element 2 to lock the two different target positions.
  • the specific embodiment according to Fig. 4 differs from the embodiment shown in Fig. 3 only with regard to the locking device.
  • This also comprises two stops 5a, 5b, which are arranged as pins on the base 9 and which limit the rotational movement of the rotary element 2 about the axis A in one direction of rotation and the other direction of rotation by coming into contact with a contact section 2d of the rotary element 2.
  • the stops 5a, 5b are opposite one another with respect to the plane of symmetry of the actuator 1, which includes the axis A.
  • the The embodiment according to Fig. 3 the The embodiment according to Fig.
  • the 4 has a single pressure piece 7 (not visible therein), which is spring-mounted and has a spherical head and is arranged in a corresponding recess in the base 9, which is located approximately midway between the two stops 5a, 5b.
  • the underside of the rotating element 2, in particular the underside of the contact section 2d, has a wedge-shaped section, and in the respective target position of the rotating element 2, rotationally limited by the stops 5a, 5b, in which the contact section 2d is in contact with the corresponding stop 5a, 5b, the spherical head of the pressure piece 7 presses laterally against the corresponding flank of the wedge-shaped section and thereby presses the contact section 2d of the rotating element 2 against the respective stop 5a, 5b, so that the target position of the rotating element 2 is fixed or locked without the use of energy.
  • a further aspect of the present invention relates to a positioning device comprising the actuator 1 and a movable element.
  • the actuator 1 and the movable element are arranged relative to one another in the positioning device such that the actuator 1 can block or permit movement of the movable element in a direction parallel to the axis A (lockout mechanism) depending on its switching states. This is achieved in particular via the position of the projection 2a of the rotary element 2 in the two switching states.
  • the projection 2a blocks movement of the movable element parallel to the axis A; in a second switching state, the projection 2a permits movement of the movable element in this direction.
  • the force acting on the projection 2a is completely directed into a pivot bearing of the rotary element 2.
  • the rotary element 2 is preferably balanced so that (linear) acceleration forces cannot lead to a torque or switching.
  • a positioning device serves in particular as a transport lock for sensitive positioning solutions in order to protect them against external shocks and vibrations, such as those that occur during rocket launches of satellites.
  • the actuator according to the invention was described above in an exemplary embodiment in which it comprises an inner fastening point 6, a first outer fastening point 8a, a second outer fastening point 8b, and a single or two separate wires (wire sections 3a, 3b).
  • the invention is not limited to such a configuration.
  • the core aspect of the present invention is that a wire (wire section) is attached to an outer (stationary) attachment point and an inner (eccentric with respect to the rotational axis of the rotating element) attachment point and, upon thermal activation, rests tangentially against at least one circumferential portion of the deflection element. This core aspect encompasses further possible embodiments.
  • only one external fastening point can be provided. This allows the rotating element to rotate in only one direction.
  • resetting (rotating in the other direction) of the rotating element can be achieved, for example, via a torsion spring connected to the rotating element.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission Devices (AREA)

Abstract

La présente demande concerne un actionneur (1), comprenant un élément rotatif (2) qui est rotatif autour d'un axe (A), un élément de déviation (4) qui est monté sur l'élément rotatif (2) de manière centrale par rapport à l'axe (A), au moins un point de fixation interne (6) qui est situé sur l'élément rotatif (2) de manière excentrique par rapport à l'axe (A), au moins un point de fixation externe (8a, 8b) qui est situé de manière fixe par rapport à l'axe (A), et au moins un fil (3) constitué d'un alliage à mémoire de forme. L'au moins un fil (3) est fixé à l'au moins un point de fixation interne (6) et à l'au moins un point de fixation externe (8a, 8b) et, lors de l'activation thermique, est en appui tangentiel contre au moins une partie circonférentielle de l'élément de déviation (4). L'actionneur selon l'invention permet un mouvement d'actionnement suffisamment important de l'élément rotatif (2) et une conception compacte dudit actionneur (1). Un autre aspect de la présente invention concerne un dispositif de positionnement qui comprend un tel actionneur.
PCT/EP2025/054561 2024-03-15 2025-02-20 Actionneur comprenant un élément à mémoire de forme et dispositif de positionnement comprenant un tel actionneur Pending WO2025190627A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102024107513.9A DE102024107513A1 (de) 2024-03-15 2024-03-15 Aktor mit Formgedächtniselement und Positioniervorrichtung umfassend einen solchen Aktor
DE102024107513.9 2024-03-15

Publications (1)

Publication Number Publication Date
WO2025190627A1 true WO2025190627A1 (fr) 2025-09-18

Family

ID=94823985

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2025/054561 Pending WO2025190627A1 (fr) 2024-03-15 2025-02-20 Actionneur comprenant un élément à mémoire de forme et dispositif de positionnement comprenant un tel actionneur

Country Status (2)

Country Link
DE (1) DE102024107513A1 (fr)
WO (1) WO2025190627A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005083291A (ja) * 2003-09-10 2005-03-31 Mitsubishi Electric Corp 駆動装置
EP1593844A1 (fr) 2004-05-03 2005-11-09 C.R.F. Societa' Consortile per Azioni Actuateur à mémoire de forme avec bistable opération
EP1752661A1 (fr) * 2005-08-11 2007-02-14 Alfmeier Präzision Ag Baugruppen und Systemlösungen Actuateur rotatif à mémoire de forme
US20150260170A1 (en) * 2014-03-11 2015-09-17 The Regents Of The University Of Michigan System with damper-controlled switch for shape memory alloy actuator motion control
GB2615646A (en) * 2021-12-23 2023-08-16 Cambridge Mechatronics Ltd Actuator assembly

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1364125A1 (fr) * 2001-01-17 2003-11-26 M 2 Medical A/S Actionneur en alliage a memoire de forme
CN111295511B (zh) * 2017-11-17 2022-10-04 艾斯科技公司 形状记忆合金驱动式的旋转式致动器

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005083291A (ja) * 2003-09-10 2005-03-31 Mitsubishi Electric Corp 駆動装置
EP1593844A1 (fr) 2004-05-03 2005-11-09 C.R.F. Societa' Consortile per Azioni Actuateur à mémoire de forme avec bistable opération
EP1752661A1 (fr) * 2005-08-11 2007-02-14 Alfmeier Präzision Ag Baugruppen und Systemlösungen Actuateur rotatif à mémoire de forme
US20150260170A1 (en) * 2014-03-11 2015-09-17 The Regents Of The University Of Michigan System with damper-controlled switch for shape memory alloy actuator motion control
GB2615646A (en) * 2021-12-23 2023-08-16 Cambridge Mechatronics Ltd Actuator assembly

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