This work presents a novel Shape Memory Alloy spring actuated continuum robotic neck that derives inspiration from pennate muscle architecture. The proposed design has 2DOF, and experimental studies reveal that the designed joint can replicate the human head's anthropomorphic range of motion. We enumerate the analytical modelling for SMA actuators and the kinematic model of the proposed design configuration. A series of experiments were conducted to assess the performance of the anthropomorphic neck by measuring the range of motion with varying input currents. Furthermore, the experiments were conducted to validate the analytical model of the SMA Multiphysics and the continuum backbone. The existing humanoid necks have been powered by conventional actuators that have relatively low energy efficiency and are prone to wear. The current research envisages application of nonconventional actuator such as SMA springs with specific geometric configuration yielding high power to weight ratio that delivers smooth motion for continuum robots as demonstrated in this present work.

翻译：本文介绍了一种新型形状记忆合金弹簧驱动的连续体机器人颈部，其设计灵感来源于羽状肌肉结构。所提出的设计具有2自由度，实验研究表明，该关节能够复现人类头部的类人运动范围。我们详细阐述了SMA执行器的解析建模及所提出设计构型的运动学模型。通过测量不同输入电流下的运动范围，进行了一系列实验以评估该仿生颈部的性能。此外，还开展了实验验证SMA多物理场模型和连续体主干的解析模型。现有的人形机器人颈部多采用传统执行器驱动，存在能量效率较低且易于磨损的问题。本研究探索了非传统执行器（如具有特定几何构型的SMA弹簧）的应用，该执行器具有高功率重量比，能够为连续体机器人提供平滑运动，如本工作所展示。