Abstract
A compact, lightweight and flexible artificial muscle has been proposed for use in such wearable rehabilitation devices employing shape memory alloy (SMA) wires. In detail, mechanical performance and an optimal geometric shape as the SMA artificial muscle were investigated experimentally, and discussed using finite element analyses. It was found that the wave shaped SMA wire extended to 25～30% of strain equivalent to the extension of human muscle. The recovery force and the maximum local strain were changed with the geometric shape and the combined structures of SMA wires. The results therefore show that the designed SMA artificial muscle is applicable to wearable rehabilitation device.
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