Vinesh Manian

Soft Bidirectional Shape Memory Alloy Actuators for Robotic Catheters

In this paper, we present a robotic catheter consisting of a steerable tip driven by a novel soft shape memory alloy (SMA) actuator. The SMA actuator is a continuum body made of silicone hosting a U-shaped SMA bending wire and a pre-stretched elastic band. Through Joule heating, the temperature and