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提出了动物关节臂的力学模型，讨论了形状记忆合金（ＳＭＡ）和动物骨骼肌生物力学行为的相似性和力学性能的差异．基于仿生学的原理，研究了用ＳＭＡ丝驱动仿生转动关节的技术．研制了能实现ＳＭＡ感知功能的控制电路和ＳＭＡ丝驱动的仿生转动关节驱动器，并用该关节驱动器开发了一个两自由度的微型关节臂，该微型关节臂可用于微型步行机器人和人工假肢．
The mechanical model of the animal’s articulated arm was proposed. The differences in the similarities and mechanical properties between the shape memory alloy (SMA) and the skeletal muscle biomechanics were discussed. Based on the principle of bionics, the technique of using SMA wire to drive bionic rotating joints was studied. A control circuit capable of realizing SMA sensing function and a bionic rotary joint driver driven by SMA wire were developed. With this joint driver, a two-degree-of-freedom micro-joint arm was developed, which can be used in miniature walking robots and prosthetic limbs.