The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Curvature, Torsion, and Force Sensing in Continuum Robots Using Helically Wrapped FBG Sensors
Abstract
Due to their small size and flexibility, fiber Bragg grating (FBG) sensors have been integrated into needle-sized continuum robots for shape estimation and force measurement. The challenge in extending previous shape and force sensing technologies to pre-curved continuum robots, such as concentric-tube robots, is that torsion information is essential for accurate shape estimation, and the force-strain relationship is nonlinear. In this letter, a novel helically wrapped FBG sensor design and corresponding force-curvature-strain model are developed to provide simultaneous curvature, torsion, and force measurement. To validate this design and modeling technique, two sensorized Nitinol tubes were fabricated and tested in an experimental setup. The results showed that accurate and sensitive curvature, torsion, and force measurements can be obtained at a 100 Hz sampling rate.
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Iordachita, I., Sun, Z., Balicki, M., Kang, J. U., Phee, S. J., Handa, J., Gehlbach, P., & Taylor, R. (2009) · International Journal of Computer Assisted Radiology and Surgery · doi:10.1007/s11548-009-0301-6 · Cited by 181
Cited by
Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey
Shi, C., Luo, X., Qi, P., Li, T., Song, S., Najdovski, Z., Fukuda, T., & Ren, H. (2017) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2016.2622361 · Cited by 420
Metadata
- Authors
- Xu, R., Yurkewich, A., & Patel, R. V.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2016-07
- Volume
- 1
- Issue
- 2
- Pages
- 1052-1059
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2295380675
- Cited by
- 268
- References
- 1
- FWCI
- 10.79
- Type
- journal article
- Language
- en
- Open access
- closed
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- Xu, R., Yurkewich, A., & Patel, R. V. (2016). Curvature, Torsion, and Force Sensing in Continuum Robots Using Helically Wrapped FBG Sensors. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2016.2530867
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