Dynamic cellular actuator arrays and the expanded fingerprint method for dynamic modeling
We present a cell-based flexible actuator design methodology for actuator arrays. We develop the General Fingerprint Method for dynamic modeling of actuator arrays. The presented method is robust to varied constituent actuator types. The method allows for fast recalculation for different array structures. Two physical SMA based experiments validate the theoretical results.
cellular actuator array actuation fingerprint flexible modular muscle bio-inspired topology cell