Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending, and Twisting

The inherent flexibility, the small dimensions as well as the curvilinear shape of continuum robots makes it challenging to precisely measure their shape. Optical fibers with Bragg gratings (FBGs) provide a powerful tool to reconstruct the centerline of continuum robots. We present a theoretical mod...

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Bibliographic Details
Published in:IEEE sensors journal 2021-03, Vol.21 (5), p.6712-6723
Main Authors: Modes, Vincent, Ortmaier, Tobias, Burgner-Kahrs, Jessica
Format: Article
Language:English
Subjects:
Algorithms
Bend tests
Bending
Bragg gratings
Continuum robot
Elongation
fiber Bragg grating sensors
multi-core optical fiber
Optical fibers
Robot sensing systems
Robots
Sensor arrays
Sensors
Shape
shape sensing
Strain
Strain measurement
Twisting
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Summary:The inherent flexibility, the small dimensions as well as the curvilinear shape of continuum robots makes it challenging to precisely measure their shape. Optical fibers with Bragg gratings (FBGs) provide a powerful tool to reconstruct the centerline of continuum robots. We present a theoretical model to determine the shape of such a sensor array based on longitudinal strain measurements and incorporating bending, twisting, and elongation. To validate our approach, we conduct several simulations by calculating arbitrary shapes based on the Cosserat rod theory. Our algorithm showed a maximum mean relative shape deviation of 0.04%, although the sensor array was twisted up to 78°. Because we derive a closed-form solution for the strain curvature twist model, we also give analytical sensitivity values for the model, which can be used in the calculation of error propagation.
ISSN:1530-437X
1558-1748
DOI:10.1109/JSEN.2020.3043999