TY - GEN
T1 - FBG-based shape sensing tubes for continuum robots
AU - Ryu, Seok Chang
AU - Dupont, Pierre E.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Fiber Bragg gratings (FBG)-based optical sensors are a promising real-time technique for sensing the 3D curvature of continuum robots. Existing implementations, however, have relied on embedding optical fibers in small-diameter metal wires or needles. This paper proposes polymer tubes as an alternative substrate for the fibers. This approach separates the sensors from the robot structural components while using a minimal amount of the robot's tool lumen and providing the potential of inexpensive fabrication. Since the fibers are stiffer than the polymer substrate, however, design challenges arise in modeling strain transfer between the fibers and the tube substrate. To investigate the potential of this approach, a strain transfer model is derived and validated through simulation and experiment.
AB - Fiber Bragg gratings (FBG)-based optical sensors are a promising real-time technique for sensing the 3D curvature of continuum robots. Existing implementations, however, have relied on embedding optical fibers in small-diameter metal wires or needles. This paper proposes polymer tubes as an alternative substrate for the fibers. This approach separates the sensors from the robot structural components while using a minimal amount of the robot's tool lumen and providing the potential of inexpensive fabrication. Since the fibers are stiffer than the polymer substrate, however, design challenges arise in modeling strain transfer between the fibers and the tube substrate. To investigate the potential of this approach, a strain transfer model is derived and validated through simulation and experiment.
UR - http://www.scopus.com/inward/record.url?scp=84929224704&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907368
DO - 10.1109/ICRA.2014.6907368
M3 - Conference contribution
AN - SCOPUS:84929224704
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3531
EP - 3537
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -