# US 9,753,300 B2 · Shape memory alloy actuation apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,753,300 B2 - Document ID: US9753300B2 - Status: Granted - Kind: B2 - Application number: 14/378,893 - Filed: 2013-02-18 - Published: 2015-12-03 - Granted: 2017-09-05 - Earliest claimed: 2012-02-16 - Assignees: Cambridge Mechatronics Limited - Applicants: Cambridge Mechatronics Limited - Inventors: James Howarth - Web page: https://patentgrep.com/patent/US9753300B2 ## CPC - G03B 3/10: Power-operated focusing - F03G 7/06143: {Wires} - F03G 7/0636: {with several elements connected in parallel} - F03G 7/0665: {controlled displacement, e.g. by using a lens positioning actuator} - G02B 7/023: {permitting adjustment} - G02B 27/646: {compensating for small deviations, e.g. due to vibration or shake (movement of one or more optical elements for control of motion blur in cameras, projectors or printers G03B2205/0007; image stabilisation in cameras peculiar to the presence or use of an electronic image sensor H04N23/68)} - G03B 5/00: Adjustment of optical system relative to image or object surface other than for focusing - G03B 2205/0007: Movement of one or more optical elements for control of motion blur - G03B 2205/0076: using shape memory alloys - G03B 2217/005: Blur detection - G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D) - F03G: SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR (arrangements in connection with power supply in vehicles from force of nature B60K16/00; electric propulsion with power supply in vehicles from force of nature B60L8/00) - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS ## Abstract An SMA actuation apparatus (1) comprises a support structure (4) on which a movable element (2) is supported. Four SMA actuator wires (11-14) are connected at their ends to one of the support structure (4) and the movable element (2) and being hooked over a respective connector (7) connected to the other. Pairs of the SMA actuator wires (11-14), on contraction, to drive movement of the movable element (2) relative to the support structure (4), through the respective connectors (7), in opposite directions in said plane (XY), that are orthogonal as between the pairs. Each connector (7) is compliant laterally to the direction in which the respective SMA actuator wire (11-14) drives movement of the movable element (2) relative to support structure (4). ## Claims ### Claim 1 A shape memory alloy actuation apparatus for moving a movable element relative to a support structure, the shape memory alloy actuation apparatus comprising: a support structure; a movable element supported on the support structure in a manner allowing movement of the movable element relative to the support structure in any direction in a plane; and four shape memory alloy actuator wires, each shape memory alloy actuator wire being connected at its ends to one of the support structure and the movable element and being hooked over a respective connector connected to the other of the of the support structure and the movable element, a first pair of the shape memory alloy actuator wires being arranged, on contraction, to drive movement of the movable element relative to the support structure, through the respective connectors, in opposite directions along a first axis in said plane, a second pair of the shape memory alloy actuator wires being arranged, on contraction, to drive movement of the movable element relative to the support structure, through the respective connectors, in opposite directions along a second axis in said plane transverse to said first axis, wherein each connector is a rocker arm that is compliant in a direction in said plane laterally to the directions in which the respective shape memory alloy actuator wire drives movement of the movable element relative to the support structure. ### Claim 2 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, wherein the shape memory alloy actuation apparatus is a camera apparatus further comprising an image sensor fixed to the support structure, and the movable element comprises a camera lens element comprising one or more lenses arranged to focus an image on the image sensor, said plane being perpendicular to the optical axis of the camera lens element. ### Claim 3 (depends on 2) The shape memory alloy actuation apparatus according to claim 2, wherein the at least one lens has a diameter of at most 10 mm. ### Claim 4 (depends on 2) The shape memory alloy actuation apparatus according to claim 2, further comprising: a vibration sensor arranged to generate output signals representative of the vibration of the shape memory alloy actuation apparatus; and a control circuit arranged to generate drive signals for the shape memory alloy actuator wires in response to the output signals of the vibration sensor for driving the movement of the camera lens element to stabilize the image sensed by the image sensor, and to supply the generated drive signals to the shape memory alloy actuator wires. ### Claim 5 (depends on 2) The shape memory alloy actuation apparatus according to claim 2, wherein the shape memory alloy actuator wires are disposed outside the lens element as viewed along the optical axis. ### Claim 6 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, further comprising: a control circuit arranged to generate drive signals for the shape memory alloy actuator for driving the movement of the movable element relative to the support structure in said plane, and to supply the generated drive signals to the shape memory alloy actuator wires. ### Claim 7 (depends on 1) The shape memory alloy actuation apparatus of claim 1, wherein the respective connectors are connected to the other of the support structure and the movable element with a rolling contact therebetween. ### Claim 8 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, wherein the shape memory alloy actuator wires extend parallel to said plane. ### Claim 9 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, wherein the second pair of shape memory alloy actuator wires is offset from the first pair of shape memory alloy actuator wires in a direction perpendicular to said plane. ### Claim 10 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, wherein the portions of each shape memory alloy actuator wire on either side of the respective connector extend at an angle of less than 180° as viewed perpendicular to the plane. ### Claim 11 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, wherein each shape memory alloy actuator wire is connected at its ends to the same one of the support structure and the movable element. ### Claim 12 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, wherein each shape memory alloy actuator wire is connected at its ends to the support structure. ### Claim 13 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, wherein said second axis is orthogonal to said first axis. ### Claim 14 (depends on 1) The shape memory alloy actuation apparatus according to claim 1, wherein the movable element is supported on the support structure solely by the shape memory alloy actuator wires. ### Claim 15 A shape memory alloy actuation apparatus for moving a movable element relative to a support structure, the shape memory alloy actuation apparatus comprising: a support structure; a movable element supported on the support structure in a manner allowing movement of the movable element relative to the support structure in any direction in a plane; and four shape memory alloy actuator wires, each shape memory alloy actuator wire being connected at its ends to one of the support structure and the movable element and being hooked over a respective connector connected to the other of the of the support structure and the movable element, a first pair of the shape memory alloy actuator wires being arranged, on contraction, to drive movement of the movable element relative to the support structure, through the respective connectors, in opposite directions along a first axis in said plane, a second pair of the shape memory alloy actuator wires being arranged, on contraction, to drive movement of the movable element relative to the support structure, through the respective connectors, in opposite directions along a second axis in said plane transverse to said first axis, wherein each connector is a resilient member that is compliant in a direction in said plane laterally to the directions in which the respective shape memory alloy actuator wire drives movement of the movable element relative to support structure. ### Claim 16 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, wherein the shape memory alloy actuation apparatus is a camera apparatus further comprising an image sensor fixed to the support structure, and the movable element comprises a camera lens element comprising one or more lenses arranged to focus an image on the image sensor, said plane being perpendicular to the optical axis of the camera lens element. ### Claim 17 (depends on 16) The shape memory alloy actuation apparatus according to claim 16, wherein the at least one lens has a diameter of at most 10 mm. ### Claim 18 (depends on 17) The shape memory alloy actuation apparatus according to claim 17, further comprising: a vibration sensor arranged to generate output signals representative of the vibration of the shape memory alloy actuation apparatus; and a control circuit arranged to generate drive signals for the shape memory alloy actuator wires in response to the output signals of the vibration sensor for driving the movement of the camera lens element to stabilize the image sensed by the image sensor, and to supply the generated drive signals to the shape memory alloy actuator wires. ### Claim 19 (depends on 16) The shape memory alloy actuation apparatus according to claim 16, wherein the shape memory alloy actuator wires are disposed outside the lens element as viewed along the optical axis. ### Claim 20 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, further comprising: a control circuit arranged to generate drive signals for the shape memory alloy actuator for driving the movement of the movable element relative to the support structure in said plane, and to supply the generated drive signals to the shape memory alloy actuator wires. ### Claim 21 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, wherein the shape memory alloy actuator wires extend parallel to said plane. ### Claim 22 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, wherein the second pair of shape memory alloy actuator wires is offset from the first pair of shape memory alloy actuator wires in a direction perpendicular to said plane. ### Claim 23 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, wherein the portions of each shape memory alloy actuator wire on either side of the respective connector extend at an angle of less than 180° as viewed perpendicular to the plane. ### Claim 24 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, wherein each shape memory alloy actuator wire is connected at its ends to the same one of the support structure and the movable element. ### Claim 25 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, wherein each shape memory alloy actuator wire is connected at its ends to the support structure. ### Claim 26 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, wherein said second axis is orthogonal to said first axis. ### Claim 27 (depends on 15) The shape memory alloy actuation apparatus according to claim 15, wherein the movable element is supported on the support structure solely by the shape memory alloy actuator wires.