{"ID":2825837,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.20342","arxiv_id":"2512.20342","title":"Design and Modeling of a Simple-Structured Continuously Variable Transmission Utilizing Shape Memory Alloy Superelasticity for Twisted String Actuator","abstract":"Twisted String Actuators (TSAs) are widely used in robotics but suffer from a limited range of Transmission Ratio (TR) variation, restricting their efficiency under varying loads.To overcome this, we propose a novel lightweight, simple-structured Continuously Variable Transmission (CVT) mechanism for TSA utilizing Shape Memory Alloy (SMA) superelasticity. The CVT mechanism consists solely of a pair of highly lightweight superelastic SMA rods connecting the ends of twisted strings. These rods deform under external loads, adjusting the inter-string distance to enable continuous TR variation.We develop a comprehensive theoretical model that integrates three critical nonlinearities","short_abstract":"Twisted String Actuators (TSAs) are widely used in robotics but suffer from a limited range of Transmission Ratio (TR) variation, restricting their efficiency under varying loads.To overcome this, we propose a novel lightweight, simple-structured Continuously Variable Transmission (CVT) mechanism for TSA utilizing Shap...","url_abs":"https://arxiv.org/abs/2512.20342","url_pdf":"https://arxiv.org/pdf/2512.20342v1","authors":"[\"Chanchan Xu\",\"Shuai Dong\",\"Xiaojie Wang\"]","published":"2025-12-23T13:21:17Z","proceeding":"physics.ins-det","tasks":"[\"physics.ins-det\",\"cs.RO\"]","methods":"[]","has_code":false}