Search Results (160)

Iron-based shape memory alloy (Fe-SMA) fibers can enhance cementitious composites through both crack bridging and thermally activated recovery stresses. Since fiber pull-out governs load transfer at the micro scale, understanding the combined effects of fiber geometry, inclination, and thermal treatment is essential. This study experimentally investigated the pull-out behavior of hooked-end Fe-SMA fibers embedded in high-performance concrete (HPC). A total of 54 ASTM C307-type briquette specimens were tested using single-hook (3D) and double-hook (4D) fibers at inclination angles of 60°, 75°, and 90° under ambient, 100 °C, and 200 °C conditions. Additional flexural, compressive, and direct tensile tests were conducted on plain HPC exposed to the same thermal regime. At ambient temperature, 4D fibers showed 50–70% higher peak pull-out forces than 3D fibers. Heating to 100 °C further increased pull-out resistance by about 6–17%, and the 4D-60-100 configuration achieved the highest performance. In contrast, exposure to 200 °C reduced pull-out resistance by about 5–12% below ambient values. Overall, a 60° inclination generally provided a better response, while 90° produced the lowest. The results confirm that moderate thermal activation combined with double-hook geometry is the most effective strategy for maximizing Fe-SMA fiber–matrix load transfer in HPC. Full article

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. Full article

Iron-based shape memory alloys (Fe-SMAs) are promising for structural retrofitting because of their low cost, corrosion resistance, and manufacturability. However, the effect of strain rate on the coupled thermo-microstructural evolution during cyclic training remains underexplored. In this study, samples underwent cyclic tensile training at quasi-static and impact strain rates. After each cycle, DSC was adopted to obtain transformation temperatures and enthalpies, and selected cycles were characterized by EBSD (KAM and IPF) to quantify phase fractions and variant statistics. Results show tensile loading shifts transformation temperatures, with the principal difference between regimes appearing in the evolution of martensite finish temperature. Under impact loading, the transformation enthalpy increases more rapidly (0.18 to 0.8 J/g in absolute value), and the driving force decreases more markedly by the fourth cycle (−0.0578 to −0.1117 J/g), indicating faster thermodynamic changes at high strain rates. Internal stress and dislocation storage accumulate faster under impact, lowering the effective stress (−17.01 MPa) for transformation and promoting martensite nucleation/growth. EBSD reveals increasing lattice distortion; in impact-trained samples, single-variant martensite and higher stored energy reduce interface resistance and enable elastic energy release, accelerating transformation and improving shape recovery. Full article

Nickel–titanium (NiTi) shape memory alloys offer transformative functionality for biomedical and aerospace systems, yet their adoption in additive manufacturing (AM) remains constrained by powder reactivity, compositional sensitivity, and the high energy of feedstock production. This work establishes a unified, data-driven evaluation of how powder-state evolution during reuse and ultrasonic plasma atomization (UPA) affects both functional behavior and environmental performance. Virgin, reused, and UPA-recycled NiTi powders were systematically characterized based on particle-size distribution (PSD), SEM morphology, sphericity, oxygen content (ONH), and differential scanning calorimetry (DSC), and these results were coupled with a process-level life-cycle assessment (LCA) spanning cradle-to-gate feedstock generation. Reused powder showed finer but broadened PSD, surface oxidation, and elevated transformation temperatures; these degradation mechanisms limited its reuse despite reducing energy demand by ~30% relative to virgin powder. UPA provided a more effective regeneration pathway: UPA-recycled NiTi recovered high sphericity and smooth particle surfaces while lowering cradle-to-gate energy from 100 ± 10 to 50 ± 5 MJ·kg⁻¹ (≈50%) and reducing CO₂-equivalent emissions by ≈45%, with ~95% material recovery. Although the UPA condition exhibited a higher oxygen content in this study due to system-level atmosphere limitations, prior work indicates that optimized inert-gas control can suppress oxidation, suggesting clear avenues for improvement. Sustainability Index analysis confirmed UPA as the most favorable route, integrating reductions in energy demand and emissions with recovery of powder morphology and reconditioning of thermal transformation behavior. More broadly, the ability of UPA to promote compositional and microstructural redistribution highlights its potential to deliberately re-tune or “reprogram” transformation temperatures for application-specific requirements when alloying and processing atmospheres are carefully managed. Full article

Shape Memory Alloy (SMA) actuators offer strong potential for compact, lightweight, silent, and compliant robotic grippers; however, their practical deployment is limited by the challenge of controlling nonlinear and hysteretic thermal dynamics. This paper presents a complete Sim-to-Real control framework for precise temperature regulation of a tendon-driven SMA gripper using Deep Reinforcement Learning (DRL). A novel 12-action discrete control space is introduced, comprising 11 heating levels (0–100% PWM) and one active cooling action, enabling effective management of thermal inertia and environmental disturbances. The DRL agent is trained entirely in a calibrated thermo-mechanical simulation and deployed directly on physical hardware without real-world fine-tuning. Experimental results demonstrate accurate temperature tracking over a wide operating range (35–70 °C), achieving a mean steady-state error of approximately 0.26 °C below 50 °C and 0.41 °C at higher temperatures. Non-contact thermal imaging further confirms spatial temperature uniformity and the reliability of thermistor-based feedback. Finally, grasping experiments validate the practical effectiveness of the proposed controller, enabling reliable manipulation of delicate objects without crushing or slippage. These results demonstrate that the proposed DRL-based Sim-to-Real framework provides a robust and practical solution for high-precision SMA temperature control in soft robotic systems. Full article

This study presents a small-scale hip exoskeleton incorporating bi-directional artificial muscles constructed with springs of Shape Memory Alloy (SMA). The prototype can effectively support hip motion in both extension and flexion, spanning an angular range of $-{20}^{°}$ to ${200}^{°}$. Experiments for thermo-mechanical characterization were executed to assess the performance of the SMA muscles throughout the entire motion range. The outcomes not only confirmed the suitability of the SMA muscles for the designed exoskeleton but also provided valuable insights into their behavior and capabilities. System identification experiments were carried out to establish an accurate transfer function, guiding the tuning of Proportional-Integral-Derivative (PID) controllers for enhanced motion-control effectiveness. The safety of the SMA system was addressed with a focus on preventing overheating. Challenges in accurately measuring the temperature of a thin spring were overcome by utilizing two thermocouples for each SMA springs group. Additionally, conventional SMA temperature measurement methods, such as infrared and resistance-based techniques, are limited by high cost, nonlinearity, and small range. This study presents a model-based temperature estimation algorithm that integrates a heat transfer model, electrical input data, and thermocouple data to enable accurate and real-time SMA temperature estimation without additional sensors, offering a cost-effective and reliable alternative. To evaluate the small hip prototype and its controller capabilities, control experiments were executed for both stepping and sinusoidal trajectories. The exoskeleton successfully tracked the desired trajectories, showing its precision. Moreover, system performance under adaptive control was further investigated, revealing an RMSE of $0.{94}^{°}$ in sinusoidal trajectory experiments, indicating reliable disturbance rejection in the angle measurements. Full article

The crystal structure, texture, martensitic transformation, and magnetic properties of magnetic shape-memory Heusler alloys of Ni_51−xMn_33.4In_15.6V_x (x = 0; 0.1; 0.3; 0.5; 1) were investigated. Experimental studies of the magnetic properties and meta-magnetostructural transition (martensitic transition—MT) confirm the main sensitivity of the martensitic transition temperature to vanadium doping and to an applied magnetic field. This makes this family of shape-memory alloys promising for use in numerous applications, such as magnetocaloric cooling and MEMS technology. Diffuse electron scattering was analyzed, and the structures of the austenite and martensite were determined, including the use of TEM in situ experiments during heating and cooling for an alloy with a 0.3 at.% concentration of V. In the austenitic state, the alloys are characterized by a high-temperature-ordered phase of the L2₁ type. The images show nanodomain structures in the form of tweed contrast and contrast from antiphase domains and antiphase boundaries. The alloy microstructure in the temperature range from the martensitic finish to 113 K consists of a six-layer modulated martensite, with 10 M and 14 M modulation observed in local zones. The morphology of the double structure of the modulated martensite structure inherits the morphology of the nanodomain structure in the parent phase. This suggests that it is possible to control the structure of the high-temperature austenite phase and the temperature of the martensitic transition by alloying and/or rapidly quenching from the high-temperature phase. In addition, attention is paid to maintaining fine interface structures. High-resolution transmission electron microscopy showed good coherence along the austenite–martensite boundary. Full article

This study investigates the influence of electrical actuation parameters on the performance of a morphing composite aerodynamic profile actuated by Shape Memory Alloy (SMA) wires. A fully coupled electro-thermo-mechanical finite element model has been developed to simulate the transient response of NiTi SMA, capturing the nonlinear interplay between temperature evolution, phase transformation, and mechanical deformation under Joule heating. The model incorporates phase-dependent material properties, heat effects, and geometric constraints, enabling accurate prediction of actuation dynamics. To validate the model, a morphing spoiler prototype has been fabricated using high-performance additive manufacturing with a carbon fibre-reinforced polymer. The SMA wires have been pretensioned and electrically actuated at different current levels (3 A and 6 A), and the resulting deformation has been recorded through video analysis with embedded timers. Experimental measurements confirmed the model’s ability to predict both actuation time and displacement, with maximum deflections of 33 mm and 40 mm corresponding to different current inputs. This integrated approach demonstrates an efficient and compact solution for active aerodynamic surfaces without the need for mechanical linkages, enabling future developments in adaptive structures for automotive and aerospace applications. Full article

This study presents a phenomenological model for predicting the thermomechanical behaviour of spring-type actuators made of shape memory alloys (SMAs). The model incorporates the kinetics of martensite–austenite phase transitions as a function of temperature and applied stress. The primary innovation is the inclusion of a scalar internal variable that represents the evolution of the phase transformation within a phenomenological macroscopic model. This approach enables the deformation–force–temperature behaviour of SMA-based spring elements under cyclic loading to be accurately described. A set of constitutive equations was derived to describe reversible and residual strains, along with transformation start and finish conditions. Model parameters were calibrated using experimental data from VSP-1 and TN-1K SMA springs that were subjected to thermal cycling. The validation results show a high correlation between the theoretical predictions and the experimental data, with deviation margins of less than 6.5%. The model was then applied to designing and analysing thermosensitive actuator mechanisms for temperature control systems. This yielded accurate deformation–force characteristics, demonstrating low inertia and high repeatability. This approach enables the efficient prediction and improvement of the performance of SMA-based spring elements in actuators, making it relevant for adaptive systems in marine and aerospace applications. Full article

Due to their high energy density and favorable load-to-weight ratio, shape-memory alloy (SMA) materials are ideal actuation sources for soft robots. However, the relatively long cooling time of SMA wires in soft bodies limits their response speed. In this study, we designed and fabricated a novel SMA artificial muscle. When active heat absorption was enabled through thermoelectric modules and the evaporation/dehydration effects of hydrogels, the cooling rate of the SMA wires increased significantly. Simulation and experimental results demonstrate that with the proposed heat-dissipation scheme, the cooling speed of the SMA wires improved notably, with a temperature drop of 9.6 °C within 4 s. Additionally, the designed agar/polyacrylamide hydrogel, which has a porous skeleton structure, achieved a water-absorption expansion rate that was 600% of the previous value. When a PVC elastic substrate was used, the bending angle of the SMA artificial muscle reached 71°, with minimal bending attenuation after 45 consecutive cyclic tests. A soft gripper composed of the novel SMA artificial muscles was capable of manipulating objects of various shapes. Overall, the combination of active and passive heat-dissipation strategies enabled the SMA artificial muscle to achieve excellent durability, rapid heat dissipation, and strong versatility, demonstrating its significant potential for various applications. Full article

Shape memory alloys (SMAs) derive their unique functional properties from martensitic transformations, with the martensitic transformation temperature (T_M) serving as a key design parameter. However, existing empirical rules, such as the valence electron concentration (VEC) and lattice volume (V) criteria, are typically restricted to specific alloy families and lack general applicability. In this work, we used a data-driven methodology to find a generalizable empirical formula for T_M in SMAs by combining high-throughput first-principles calculations, feature engineering, and symbol regression techniques. Key factors influencing T_M were first identified and a predictive machine learning model was subsequently trained based on these features. Furthermore, an empirical formula of T_M = $82(\overline{\rho }·\overline{MP})-700$ was derived, where $\overline{\rho }$ and $\overline{MP}$ represent the weight-average value of density and melting point, respectively. The empirical formula exhibits strong generalizability across a wide range of SMAs, such as NiMn-based, NiTi-based, TiPt-based, and AuCd-based SMAs, etc., offering practical guidance for the compositional design and optimization of shape memory alloys. Full article

An Fe-based shape memory alloy (Fe-SMA) is an alloy that has a characteristic of being able to return to its original shape when heated, even after undergoing plastic deformation. Many researchers have conducted various studies to understand the effectiveness of using Fe-SMA in concrete structures. Most studies selected the heating temperature of Fe-SMA to be below 160 °C based on the logic that concrete hydrolyzes when its temperature exceeds 160 °C. However, because the recovery stress of Fe-SMA increases as the heating temperature increases, it is expected that greater prestress could be introduced when the heating temperature is high. In this study, to confirm this, a numerical study was conducted to evaluate the effect of Fe-SMA heating temperature on the flexural performance of concrete members through finite element (FE) analysis. The analysis results showed that the initial crack load of the specimen increased by about 89% to 173% as the heating temperature of Fe-SMA increased. In addition, the accuracy of the proposed FE model (FEM) was verified through experiments. As a result, it was confirmed that the proposed FE analysis can relatively accurately predict the failure mode and load–displacement relationship of the specimen. Full article

Additive manufacturing (AM) is revolutionizing the fabrication of metallic components, offering significant potential to compete with or complement traditional casting, forging, and machining processes, and enabling the production of complex functional components. Recent advancements in AM technology have facilitated the processing of shape memory alloys (SMAs) with functional properties comparable to those of conventionally processed alloys. However, the AM of NiTi SMAs remains underexplored due to the extreme complexity of the process, high melting point, and reactivity with oxygen. This study investigates the impact of AM processing on the shape memory properties of NiTi alloys using the Micro Wire and Arc Directed Energy Deposition (μ-WA-DED) technique in short circuit mode with a pioneering 0.3 mm pre-alloyed wire, focusing on increasing precision and control in the deposition process. The macroscopic morphology, microstructure, phase composition, phase-transformation temperatures, and mechanical properties of each deposited layer were analyzed. Results indicated austenite (B2) as the predominant phase, with retained martensite (B19′) and a reversible martensitic transformation (B2 ⇌ B19′) in the second layer. Mechanical characterization revealed variations in hardness (H) and elastic modulus (E) due to microstructural heterogeneity and composition. The first layer exhibited H = 3.8 GPa and E = 70 GPa, associated with the B2-NiTi phase, while higher values were obtained in the second layer, i.e., E = 100 GPa and H = 7 GPa. This study establishes for the first time the feasibility of NiTi alloy deposition with a 0.3 mm wire, setting a new standard for future research and applications in AM using μ-WA-DED. Full article

Nickel–titanium (NiTi) shape memory alloys are promising materials for orthopedic implants due to their unique mechanical properties, including superelasticity and shape memory effect. However, the high nickel content in NiTi alloys raises concerns about biocompatibility and potential cytotoxic effects. This review focuses on the recent advancements in surface modification techniques aimed at enhancing the properties of NiTi alloys for biomedical applications, with particular emphasis on low-temperature glow discharge plasma oxidation methods. The review explores various surface engineering strategies, including oxidation, nitriding, ion implantation, laser treatments, and the deposition of protective coatings. Among these, low-temperature plasma oxidation stands out for its ability to produce uniform, nanocrystalline layers of titanium dioxide (TiO₂), titanium nitride (TiN), and nitrogen-doped TiO₂ layers, significantly enhancing corrosion resistance, reducing nickel ion release, and promoting osseointegration. Plasma-assisted oxynitriding processes enable the creation of multifunctional coatings with improved mechanical and biological properties. The applications of modified NiTi alloys in orthopedic implants, including spinal fixation devices, joint prostheses, and fracture fixation systems, are also discussed. Despite these promising advancements, challenges remain in achieving large-scale reproducibility, controlling process parameters, and reducing production costs. Future research directions include integrating bioactive and antibacterial coatings, enhancing surface structuring for controlled biological responses, and expanding clinical validation. Addressing these challenges can unlock the full potential of surface-modified NiTi alloys in advanced orthopedic applications for safer, longer-lasting, and more effective medical implants. Full article

A shape memory alloy with the chemical composition Fe-14Mn-6Si-9Cr-5Ni (mass %) was produced by powder metallurgy (PM) from as-blended powders mixed with mechanically alloyed (MA’ed) powder volumes in amounts of 0, 10 and 20. After powder blending, pressing and sintering, the specimens were hot-rolled, spark erosion cut with different configurations and solution-treated between 700 and 1100 °C. After metallographic preparation, structural analyses were performed by X-ray diffraction and microscopic observation performed by optical and scanning electron microscopy (SEM). The analyses revealed the presence of thermal- and stress-induced martensites caused by solution treatment and pre-straining. Due to the relatively low Mn amount, significant quantities of α′ body center cubic martensite were formed during post-solution treatment water cooling. Solution-treated lamellar specimens underwent a training thermomechanical treatment comprising repeated cycles of room temperature bending, heating and sputtered water cooling. By cinematographic analysis, the occurrence of the shape memory effect (SME) was revealed, in spite of the large amount of α′ bcc martensite. Tensile specimens were subjected to room temperature failure tests and pre-straining (up to 4% permanent strain, after loading–unloading). After tensile pre-straining, a diminution of α′ martensite amount was noticed on XRD patterns, which was associated with the formation of internal sub-bands in the substructure of martensite and were observed by high-resolution SEM. These results prove that SME can be obtained in trained PM_MA’ed Fe-14Mn-6Si-9Cr-5Ni specimens in spite of the large amount of thermally induced α′ bcc martensite, the stress-induced formation of which is impeded by the presence of internal sub-bands. Full article