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La recherche de nouvelles voies de correction de la scoliose idiopathique a une longue histoire. Le traitement conventionnel de la scoliose idiopathique est présenté par le port du corset ou par la correction opératoire de la déformation. Depuis leur introduction, les deux méthodes ont prouvé leur efficacité. Cependant, malgré des caractéristiques positives évidentes, ces méthodes peuvent causer un nombre important d'effets indésirables sur la santé du patient. Les techniques sans fusion pour le traitement de la scoliose semblent être une alternative perspective de traitement traditionnel, car ils apportent moins de risques et des complications chirurgicales que les méthodes conventionnelles avec la conservation de la mobilité du disque intravertébral. Cependant, l'utilisation de techniques mentionnées exige une connaissance profonde de la modulation de croissance vertébrale. L'objectif principal de la présente étude est d'estimer le potentiel d'agrafes à l’AMF de moduler la croissance des vertèbres porcines en mesurant la croissance osseuse sur la plaque de croissance de vertèbres instrumentées en comparaison avec le groupe contrôle. La méthode est basée sur la loi de Hueter-Volkmann. Nous avons choisi NiTi agrafes à l’AMF pour notre étude et les porcs de race Landrace comme un animal expérimental. Les agrafes ont été insérés sur 5 niveaux thoracique de T6 à T11. En outre, les radiographies ont été prises toutes les 2 semaines. La présence d'agrafes en alliage à mémoire de forme a produit la création de courbes scoliotiques significatives dans 4 de 6 animaux chargés et le ralentissement considérable de la croissance osseuse (jusqu'à 35,4%) comparativement aux groupes contrôle et sham. L'étude a démontré in vivo le potentiel d'agrafes en alliage à mémoire de formes de moduler la croissance des vertèbres en créant des courbes scoliotiques sur les radiographies et en ralentissant le taux de croissance sur les plaques de croissance instrumenté. La position précise de l'agrafe est essentielle pour la modulation de croissance osseuse et le développement de la scoliose expérimentale. / The search for a new ways of correction of idiopathic scoliosis was started long ago. Conventional treatments of idiopathic scoliosis comprise predominantly bracing and open correction of the deformity. Since their introduction, both methods have proven effective. However, despite evident positive characteristics, these methods can pose a significant number of undesirable effects to patient health.. There for fusionless techniques for the treatment of scoliosis seems to be a perspective alternative of traditional treatment as it presents less surgical risks and complications then conventional methods including maintenance of disc mobility. However the use of mentioned techniques demands a deep knowledge of vertebral growth modulation. The principal objective of present study is to estimate the potential of SMA staples to modulate the growth of porcine vertebrae by measuring bone growth on the growth plate of instrumented vertebrae in comparison with the control group. The method is based on the Hueter-Volkmann law. We choose NiTi SMA staples for our study and Landrace domestic pigs as an experimental animal. The staples were inserted on 5 thoracic levels from T6 to T11. Additionally, radiographs were taken every 2 weeks. The presence of shape memory alloy staples led to creation of significant scoliosis curves in 4 of 6 loaded animals and considerable slowing of bone growth (up to 35.4.%) comparatively to control and sham groups. The study has demonstrated in vivo the potential of the shape memory alloy staples to modulate the growth of vertebrae by creating scoliotic curves on radiographs and by slowing the growth rate on the instrumented growth plates. Accurate position of the staple is essential for the bone growth modulation and the development of experimental scoliosis.

This thesis focuses on the role of interfacial strain in heterostructures to modify the magnetism of thin ferromagnetic films due to the inverse magnetostrictive effect, defined as the change of magnetization produced in ferromagnetic materials by an external stress. Thus, the magnetic control can be obtained without applying an external field by using heterostructures composed of a non-magnetic layer characterized by a temperature-driven structural phase transition coupled to a ferromagnetic layer. In such heterostructures, the magnetization of the ferromagnetic layer is modified through changes in the stress field at the interface when the structural phase transition in the non-magnetic layer (actuator) is carried out. In this work, we used NiTi shape memory alloy as the actuator to modify the magnetic behavior of ferromagnetic films through the magneto-elastic coupling in novel NiTi/Ni and NiTi/Co heterostructures. NiTi, when near its equiatomic composition, is a shape memory alloy that undergoes a reversible structural phase transition with temperature, providing stress on the ferromagnetic film. We chose this alloy because NiTi exhibits a large recovery stress with transition temperatures above room temperature for Ti-rich NiTi films, which is of interest for technological applications of the heterostructures. Since the right microstructure of NiTi is important to observe structural phase transition and it defines the characteristic of the transition, an extensive review on previous research on NiTi is detailed in this thesis. Thus, to ensure large stress during the NiTi structural transition with temperature, the NiTi alloy must be near its equiatomic composition with a thickness above 800 nm. Both characteristics were confirmed by Rutherford Backscattering analyses. The crystal structure and its transition with temperature were studied by X-ray diffraction measurements. In-plane magnetization and hysteresis measurements with temperature, performed on a superconducting quantum interference device (SQUID) magnetometer, prove the magneto-elastic coupling that was observed as an enhancement in the magnetic moment of the ferromagnetic layer. Such enhancement becomes the feature of magneto-elastic coupling in these novel NiTi/ferromagnetic heterostructures. / Esta tese estuda o papel da tensão interfacial em filmes heterogêneos na modificação do magnetismo de camadas ferromagnéticas finas por meio do efeito magnetoestritivo inverso, definido como a mudança de magnetização produzida em materiais ferromagnéticos por um estresse externo. Tecnologicamente, isto visa ter um grau de controle magnético do material sem a aplicação de um campo externo, usando heteroestruturas compostas por uma camada não magnética caracterizada por uma transição de fase estrutural acionada pela temperatura, acoplada a uma camada ferromagnética. Em tais heteroestruturas, a magnetização da camada ferromagnética é modificada através de alterações no campo de tensão na interface quando a transição de fase estrutural na camada não magnética (atuador) é realizada. Assim, utilizamos a liga com memória de forma NiTi como atuador, para modificar o comportamento magnético de filmes ferromagnéticos através do acoplamento magnetoelástico em novas heteroestruturas de NiTi/Ni e NiTi/Co. O NiTi, quando próximo à sua composição equiatômica, é uma liga com memória de forma que sofre uma transição de fase estrutural reversível com a temperatura, proporcionando tensão no filme ferromagnético. Escolhemos esta liga porque o NiTi apresenta uma grande tensão de recuperação com temperaturas de transição acima da temperatura ambiente, para filmes de NiTi ricos em Ti, o que é de interesse para aplicações tecnológicas das heteroestruturas. A microestrutura do NiTi é fundamental para favorecer a transição de fase estrutural e definir as suas características. Assim, uma extensa revisão de pesquisas anteriores sobre NiTi é detalhada nesta tese. Para garantir um grande estresse durante a transição estrutural do NiTi com a temperatura, o filme de NiTi deve estar próximo de sua composição equiatômica e ter espessura acima de 800 nm. Ambas as características foram confirmadas pelas análises de espectroscopia de retroespalhamento Rutherford. A estrutura cristalina e sua transição com a temperatura foram estudadas por medidas de difração de raios X. Medidas de magnetização e histerese em função da temperatura, com campo aplicado no plano dos filmes, realizadas em um magnetômetro SQUID, comprovaram a existência do acoplamento magnetoelástico, o qual se manifestou através de variações no momento magnético da camada ferromagnética. Essas mudanças de magnetização, observadas principalmente na heteroestrutura com Ni, torna-se a característica principal do acoplamento magnetoelástico nesses novos materiais.

Doctor of Philosophy (PhD) / With improvements in actuation technology and sensory systems, it is becoming increasingly feasible to create powered exoskeletal garments that can assist with the movement of human limbs. This class of robotics referred to as human-machine interfaces will one day be used for the rehabilitation of paralysed, damaged or weak upper and lower extremities. The focus of this project was the development of an exoskeletal interface for the rehabilitation of the hands. A novel sensor was designed for use in such a device. The sensor uses simple optical mechanisms centred on a spring to measure force and position simultaneously. In addition, the sensor introduces an elastic element between the actuator and its corresponding hand joint. This will allow series elastic actuation (SEA) to improve control and safely of the system. The Hand Rehabilitation Device requires multiple actuators. To stay within volume and weight constraints, it is therefore imperative to reduce the size, mass and efficiency of each actuator without losing power. A method was devised that allows small efficient actuating subunits to work together and produce a combined collective output. This work summation method was successfully implemented with Shape Memory Alloy (SMA) based actuators. The actuation, sensory, control system and human-machine interface concepts proposed were evaluated together using a single-joint electromechanical harness. This experimental setup was used with volunteer subjects to assess the potentials of a full-hand device to be used for therapy, assessment and function of the hand. The Rehabilitation Glove aims to bring significant new benefits for improving hand function, an important aspect of human independence. Furthermore, the developments in this project may one day be used for other parts of the body helping bring human-machine interface technology into the fields of rehabilitation and therapy.

This thesis presents methods for fabricating MicroElectroMechanical System (MEMS) actuators and high-flow gas microvalves using wafer-level integration of Shape Memory Alloys (SMAs) in the form of wires and sheets. The work output per volume of SMA actuators exceeds that of other microactuation mechanisms, such as electrostatic, magnetic and piezoelectric actuation, by more than an order of magnitude, making SMA actuators highly promising for applications requiring high forces and large displacements. The use of SMAs in MEMS has so far been limited, partially due to a lack of cost efficient and reliable wafer-level integration approaches. This thesis presents new methods for wafer-level integration of nickel-titanium SMA sheets and wires. For SMA sheets, a technique for the integration of patterned SMA sheets to silicon wafers using gold-silicon eutectic bonding is demonstrated. A method for selective release of gold-silicon eutectically bonded microstructures by localized electrochemical etching, is also presented. For SMA wires, alignment and placement of NiTi wires is demonstrated forboth a manual approach, using specially built wire frame tools, and a semiautomatic approach, using a commercially available wire bonder. Methods for fixing wires to wafers using either polymers, nickel electroplating or mechanical silicon clamps are also shown. Nickel electroplating offers the most promising permanent fixing technique, since both a strong mechanical and good electrical connection to the wire is achieved during the same process step. Resistively heated microactuators are also fabricated by integrating prestrained SMA wires onto silicon cantilevers. These microactuators exhibit displacements that are among the highest yet reported. The actuators also feature a relatively low power consumption and high reliability during longterm cycling. New designs for gas microvalves are presented and valves using both SMA sheets and SMA wires for actuation are fabricated. The SMA-sheet microvalve exhibits a pneumatic performance per footprint area, three times higher than that of previous microvalves. The SMA-wire-actuated microvalve also allows control of high gas flows and in addition, offers benefits of lowvoltage actuation and low overall power consumption. / QC 20120514

The main focus of this research is the transformation induced fatigue behavior of shape memory alloy (SMA) actuators undergoing thermally induced martensitic phase transformation. The recent development of aerospace applications employing shape memory alloys (SMAs) has expanded the need for fatigue life characterization and modeling. Lightweight, compact and with a great work output, SMAs are ideal materials for actuated structural components. However, fatigue life becomes a key factor in applications such as commercial airplanes. Therefore, it is necessary to not only perform fatigue testing but also to investigate the causes of fatigue failure. As a new class of materials, SMAs have unique characteristics and require novel test methodologies to conduct repeatable and reliable fatigue testing. For this research, two materials are being investigated: TiNiCu and Ni-rich NiTi. The experiments performed on the first selected alloy, i.e. TiNiCu SMA, explore three major parameters: the applied stress level, the amount of actuation, and the corrosive nature of the environment. Experimental results show that SMAs undergoing transformation induced fatigue exhibit a low-cycle fatigue behavior and the measurement of the accumulated plastic strain at failure is associated to a Manson-Coffin type failure criterion. Investigations conducted on the post-mortem microstructure showed evidence of a multiphysical coupling between corrosion and cyclic phase transformation, from which a novel cyclic damage mechanism is proposed and explained using the micromechanical shear lag model accounting for actuation and accumulated plastic strains. Thereafter, based upon the identified failure mechanism and considering damage accumulation through crack formation, a stress renormalization procedure is proposed in combination with the Miner’s rule to predict the reduction of number of cycles to failure due to cyclic phase transformation and corrosion. A direct method is first presented and the predictions show good agreement with experimental results. However, both corrosion and corrosion-free fatigue data are required. Therefore, a new approach is proposed: the inverse Miner’s rule, which requires corrosion fatigue data only to predict corrosion-free life. The new and attractive properties of the selected second alloy, i.e. Ni-rich NiTi SMA, have revived the motivation of the aerospace industry to design SMA actuators. One particular property is cyclic stability generated by precipitation hardening mechanism using precipitates. However, are also precipitates due to high Nickel content (60 wt.% or 55 at.%). Parameters such as processing, heat treatments, size effects, surface quality and environment are investigated. Thermomechanical response and fatigue life are discussed and the greatest impact is found to come from specimen surface quality. Finally, a detailed fractography presents the different microstructural aspects of the fatigue damage and concludes to a precipitation driven fatigue failure mechanism cause by precipitates.

In this thesis, a new Poly Phase Motor (rotary actuator) based on the Shape Memory Alloy (SMA) is presented. Details of Design, Modeling, Characterization, Realization and Control of Poly Phase SMA Motor are presented. Motor with 3 and 6 Phases, with appropriate Control circuit have been realized in laboratory and simulated results have been verified experimentally. In literature, broadly two types of Shape Memory Alloy based motors namely limited rotation motor and unlimited rotation motor are found. In the unlimited rotation type SMA based motor the SMA element is in the spring form. Hence, an attempt has been made in this research to develop an Unlimited Rotating type Balanced Poly Phase Motor based on SMA wire in series with a spring in each phase. By isolating SMA actuation and spring action a constant force by the SMA wire through out its range of operation is achieved. While designing the motor, similarity in function between Poly Phase SMA Motor and Stepper Motor was found. Hence, the Poly Phase Motor is characterized similar to that of a Stepper Motor. Functionally, the Poly Phase Motor can be used in stepping mode for generating incremental motion and servo mode for generating continuous motion. Various parameters of the motor have been defined. The motor can be actuated in either direction with different Phase sequencing methods, which are presented in this work. While explaining sequencing methods, effect of the thermal time constants has also been presented. The lumped thermal model is used for dynamic simulation of motor. The motor has been modeled with a new approach to the SMA wire Hysteresis model. This model is simple and useful for real time control applications. Model is implemented using Simulink and used for the simulation of the motor. Generalization of the motor concept is done and motor up to 16 Phases are studied and the simulation results done using MATLAB are discussed. It could be observed that the torque generated by the motor increases with increased number of phases while the torque ripple reduces. The motor torque ripple is better for motor with odd number of phases due to its construction. Two methods of achieving servo motion are presented. The first method is Micro Stepping, consisting of controlling single phase temperature with a position feedback. The second method is Antagonistic Control of temperatures of phases with position feedback. Both the above methods use PID Controller with optical encoder feedback for position sensing. Performance of the actuator with step, ramp and triangle inputs has been simulated using Simulink and verified experimentally for various loads and disturbances. Positional accuracy of 0.07% for the Step input and for the full rotation of 3600 is achieved. Vector Control of SMA Motor is presented. By this method Speed and the torque of the motor will be effectively controlled. Since the temperatures of the wires are controlled in this research, this method is named as Thermal Space Phasor or Vector Based Control. This method of rotation of motor is simulated using Simulink and verified experimentally. Here the current through the SMA is controlled so as to get near sinusoidal variation in temperature. This leads to a near Sinusoidal variation of force. It is shown that by controlling the temperature of phases Sinusoidally with a phase shift of 1200, the Resultant Force will be a constant over the Spatial angle of 3600 and its Velocity of rotation will be Constant. Open loop and closed loop control of the speed and torque is presented. While the motor rotates at fixed Speed and Torque in Open Loop Control, motor adopts to change in torque and velocity in Closed Loop control with reduced ripple. PID Controller is used for closed loop control. The presented rotary actuator and their experimental results set a new standard for SMA based new generation rotary actuators and control.

La recherche de nouvelles voies de correction de la scoliose idiopathique a une longue histoire. Le traitement conventionnel de la scoliose idiopathique est présenté par le port du corset ou par la correction opératoire de la déformation. Depuis leur introduction, les deux méthodes ont prouvé leur efficacité. Cependant, malgré des caractéristiques positives évidentes, ces méthodes peuvent causer un nombre important d'effets indésirables sur la santé du patient. Les techniques sans fusion pour le traitement de la scoliose semblent être une alternative perspective de traitement traditionnel, car ils apportent moins de risques et des complications chirurgicales que les méthodes conventionnelles avec la conservation de la mobilité du disque intravertébral. Cependant, l'utilisation de techniques mentionnées exige une connaissance profonde de la modulation de croissance vertébrale. L'objectif principal de la présente étude est d'estimer le potentiel d'agrafes à l’AMF de moduler la croissance des vertèbres porcines en mesurant la croissance osseuse sur la plaque de croissance de vertèbres instrumentées en comparaison avec le groupe contrôle. La méthode est basée sur la loi de Hueter-Volkmann. Nous avons choisi NiTi agrafes à l’AMF pour notre étude et les porcs de race Landrace comme un animal expérimental. Les agrafes ont été insérés sur 5 niveaux thoracique de T6 à T11. En outre, les radiographies ont été prises toutes les 2 semaines. La présence d'agrafes en alliage à mémoire de forme a produit la création de courbes scoliotiques significatives dans 4 de 6 animaux chargés et le ralentissement considérable de la croissance osseuse (jusqu'à 35,4%) comparativement aux groupes contrôle et sham. L'étude a démontré in vivo le potentiel d'agrafes en alliage à mémoire de formes de moduler la croissance des vertèbres en créant des courbes scoliotiques sur les radiographies et en ralentissant le taux de croissance sur les plaques de croissance instrumenté. La position précise de l'agrafe est essentielle pour la modulation de croissance osseuse et le développement de la scoliose expérimentale. / The search for a new ways of correction of idiopathic scoliosis was started long ago. Conventional treatments of idiopathic scoliosis comprise predominantly bracing and open correction of the deformity. Since their introduction, both methods have proven effective. However, despite evident positive characteristics, these methods can pose a significant number of undesirable effects to patient health.. There for fusionless techniques for the treatment of scoliosis seems to be a perspective alternative of traditional treatment as it presents less surgical risks and complications then conventional methods including maintenance of disc mobility. However the use of mentioned techniques demands a deep knowledge of vertebral growth modulation. The principal objective of present study is to estimate the potential of SMA staples to modulate the growth of porcine vertebrae by measuring bone growth on the growth plate of instrumented vertebrae in comparison with the control group. The method is based on the Hueter-Volkmann law. We choose NiTi SMA staples for our study and Landrace domestic pigs as an experimental animal. The staples were inserted on 5 thoracic levels from T6 to T11. Additionally, radiographs were taken every 2 weeks. The presence of shape memory alloy staples led to creation of significant scoliosis curves in 4 of 6 loaded animals and considerable slowing of bone growth (up to 35.4.%) comparatively to control and sham groups. The study has demonstrated in vivo the potential of the shape memory alloy staples to modulate the growth of vertebrae by creating scoliotic curves on radiographs and by slowing the growth rate on the instrumented growth plates. Accurate position of the staple is essential for the bone growth modulation and the development of experimental scoliosis.

L’objectif de ce travail est d’élaborer et de caractériser pour des applications biomédicalesun matériau auto-enchevêtré à base d’une seule fibre d’alliage à mémoire deforme de type Nickel-Titane. Nous avons optimisé un procédé de fabrication consistantà enchevêtrer et figer un ressort par des traitements thermiques. Les échantillonsont été caractérisés en compression et traction, avec suivi par caméra optique ettomographie in-situ. Les structures obtenues sont homogènes, isotropes, superélastiquesà température ambiante jusqu’à des déformations d’au moins 30%, et peuventdevenir ferroélastiques avec un effet mémoire d’au moins 16% par un traitement thermiqueadditionnel. Leur comportement en compression est consolidant puis dilatantet en traction, légèrement auxétique. Une comparaison avec des milieux similairesconstitués de fils ductiles et viscoélastiques, ainsi qu’avec des simulations par élémentsdiscrets sur des milieux élastiques sans frottement, montre que les propriétésmécaniques des structures auto-enchevêtrées sont contrôlées par leur architecturesingulière, à mi-chemin entre milieux continus et discrets. / The aim of this work is to process and characterize for biomedical applications,self-entangled structures made of a single NiTi shape memory fiber. We have optimizeda processing route consisting in entangling and shape-setting a spring bythermomechanical treatments. The samples were characterized in compression andtension, using optical and x-ray tomographic observations. The structures thus obtainedare homogeneous, isotropic, superelastic at room temperature up to strains ofat least 30%, and can become ferroelastic with a shape memory effect up to at least16% strain by an additional heat treatment. The mechanical behavior in compressionis first consolidating and then dilating, while in tension, the samples are slightlyauxetic. A comparison with similar media made of ductile and viscoelastic fibers,as well as with discrete element simulations on friction-free elastic fibers, show thatthe mechanical properties of these self-entangled structures are controlled by theirunique architecture, in-between continuous and discrete media.

Doctor of Philosophy (PhD) / With improvements in actuation technology and sensory systems, it is becoming increasingly feasible to create powered exoskeletal garments that can assist with the movement of human limbs. This class of robotics referred to as human-machine interfaces will one day be used for the rehabilitation of paralysed, damaged or weak upper and lower extremities. The focus of this project was the development of an exoskeletal interface for the rehabilitation of the hands. A novel sensor was designed for use in such a device. The sensor uses simple optical mechanisms centred on a spring to measure force and position simultaneously. In addition, the sensor introduces an elastic element between the actuator and its corresponding hand joint. This will allow series elastic actuation (SEA) to improve control and safely of the system. The Hand Rehabilitation Device requires multiple actuators. To stay within volume and weight constraints, it is therefore imperative to reduce the size, mass and efficiency of each actuator without losing power. A method was devised that allows small efficient actuating subunits to work together and produce a combined collective output. This work summation method was successfully implemented with Shape Memory Alloy (SMA) based actuators. The actuation, sensory, control system and human-machine interface concepts proposed were evaluated together using a single-joint electromechanical harness. This experimental setup was used with volunteer subjects to assess the potentials of a full-hand device to be used for therapy, assessment and function of the hand. The Rehabilitation Glove aims to bring significant new benefits for improving hand function, an important aspect of human independence. Furthermore, the developments in this project may one day be used for other parts of the body helping bring human-machine interface technology into the fields of rehabilitation and therapy.