Farzam Mirzakhani - MSc Student, School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
Moosa Ayati - Assistant Professor, School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
Mostafa Baghani - Assistant Professor, School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran

This paper presents a model-based controller for shapememory alloy (SMA) wire. The main goal of this controlleris force control of a two degrees of freedom (DOF) handfinger in order for gripping different things. The controlleris applied to a SMA hand finger that tracks user’s desiredstress. For this purpose, general SMA relations and fingerequilibrium equations have been combined to obtainingnecessary voltage for applying to SMA wire. Phasetransformation model that has been used for this work is theone that Brinson represented and has a perfect admissibilitythrough engineering works. MATLAB simulations confirmthe effectiveness of the controller.

Shape memory alloys – User command – Inverse model – Model based – Control