FBG-based shape sensing tubes for continuum robots

Seok Chang Ryu; Pierre E. Dupont

doi:10.1109/ICRA.2014.6907368

FBG-based shape sensing tubes for continuum robots

Seok Chang Ryu, Pierre E. Dupont

Department of Mechanical & Biomedical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

156 Scopus citations

Abstract

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.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3531-3537
Number of pages	7
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907368
State	Published - 22 Sep 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

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10.1109/ICRA.2014.6907368

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title = "FBG-based shape sensing tubes for continuum robots",

abstract = "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.",

author = "Ryu, {Seok Chang} and Dupont, {Pierre E.}",

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year = "2014",

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doi = "10.1109/ICRA.2014.6907368",

language = "English",

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Ryu, SC & Dupont, PE 2014, FBG-based shape sensing tubes for continuum robots. in Proceedings - IEEE International Conference on Robotics and Automation., 6907368, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3531-3537, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907368

FBG-based shape sensing tubes for continuum robots. / Ryu, Seok Chang; Dupont, Pierre E.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3531-3537 6907368 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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FBG-based shape sensing tubes for continuum robots

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