TY - GEN
T1 - FBG-Based Control of a Continuum Manipulator Interacting with Obstacles∗
AU - Sefati, Shahriar
AU - Murphy, Ryan J.
AU - Alambeigi, Farshid
AU - Pozin, Michael
AU - Iordachita, Iulian
AU - Taylor, Russell H.
AU - Armand, Mehran
N1 - Publisher Copyright:
© 2018 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands for shape sensing methods which do not rely on direct line of sight. To address these issues, we integrate a novel Fiber Bragg Grating (FBG) shape sensing unit into a CDM, reconstruct the shape in real-time, and develop an optimization-based control algorithm using FBG tip position feedback. The CDM is designed for less-invasive treatment of osteolysis (bone degradation). To evaluate the performance of the feedback control algorithm when the CDM interacts with obstacles, we perform a set of experiments similar to the real scenario of the CDM interaction with soft and hard lesions during the treatment of osteolysis. In addition, we propose methods for identification of the CDM collisions with soft or hard obstacles using the jacobian information. Results demonstrate successful control of the CDM tip based on the FBG feedback and indicate repeatability and robustness of the proposed method when interacting with unknown obstacles.
AB - Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands for shape sensing methods which do not rely on direct line of sight. To address these issues, we integrate a novel Fiber Bragg Grating (FBG) shape sensing unit into a CDM, reconstruct the shape in real-time, and develop an optimization-based control algorithm using FBG tip position feedback. The CDM is designed for less-invasive treatment of osteolysis (bone degradation). To evaluate the performance of the feedback control algorithm when the CDM interacts with obstacles, we perform a set of experiments similar to the real scenario of the CDM interaction with soft and hard lesions during the treatment of osteolysis. In addition, we propose methods for identification of the CDM collisions with soft or hard obstacles using the jacobian information. Results demonstrate successful control of the CDM tip based on the FBG feedback and indicate repeatability and robustness of the proposed method when interacting with unknown obstacles.
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U2 - 10.1109/IROS.2018.8594407
DO - 10.1109/IROS.2018.8594407
M3 - Conference contribution
AN - SCOPUS:85062991584
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6477
EP - 6483
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -