TY - GEN
T1 - Towards real-Time shape sensing of continuum manipulators utilizing fiber Bragg grating sensors
AU - Farvardin, Amirhossein
AU - Murphy, Ryan J.
AU - Grupp, Robert B.
AU - Iordachita, Iulian
AU - Armand, Mehran
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7/26
Y1 - 2016/7/26
N2 - Fiber Bragg grating (FBG) sensors are a promising tool for real-Time shape reconstruction of dexterous continuum manipulators (DCM). We have recently developed a novel FBG-based shape sensor which is capable of detecting a radius of curvature of 15 mm for a 35 mm length DCM. This paper aims to further evaluate the accuracy of this shape sensor during motion of the DCM. Different experiments were performed including free bending, bending in the presence of an obstacle, and bending with a tool inserted in the lumen of the DCM. Results indicate that this sensor can track the tip position with an average error of 0.81 mm for free bending, 2.73 mm for bending with an obstacle, and 0.93 mm for bending with a tool.
AB - Fiber Bragg grating (FBG) sensors are a promising tool for real-Time shape reconstruction of dexterous continuum manipulators (DCM). We have recently developed a novel FBG-based shape sensor which is capable of detecting a radius of curvature of 15 mm for a 35 mm length DCM. This paper aims to further evaluate the accuracy of this shape sensor during motion of the DCM. Different experiments were performed including free bending, bending in the presence of an obstacle, and bending with a tool inserted in the lumen of the DCM. Results indicate that this sensor can track the tip position with an average error of 0.81 mm for free bending, 2.73 mm for bending with an obstacle, and 0.93 mm for bending with a tool.
UR - http://www.scopus.com/inward/record.url?scp=84983414341&partnerID=8YFLogxK
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U2 - 10.1109/BIOROB.2016.7523791
DO - 10.1109/BIOROB.2016.7523791
M3 - Conference contribution
AN - SCOPUS:84983414341
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1180
EP - 1185
BT - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PB - IEEE Computer Society
T2 - 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Y2 - 26 June 2016 through 29 June 2016
ER -