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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2405.17636 |
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| _version_ | 1866913365788459008 |
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| author | Tavangarifard, Mobina Ovalle, Wendy Rodriguez Alambeigi, Farshid |
| author_facet | Tavangarifard, Mobina Ovalle, Wendy Rodriguez Alambeigi, Farshid |
| contents | To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly utilizing solely a single Optical Frequency Domain Reflectometry (OFDR) fiber attached to a flat nitinol wire (NiTi). Integrating this easy-to-manufacture unique sensor with a long and soft CM with 170 mm length, we performed different experiments to evaluate its shape reconstruction ability. Results demonstrate phenomenal shape reconstruction accuracy for both C-shape (< 2 mm tip error, < 1.2 mm shape error) and J-shape (< 3.4 mm tip error, < 2.3 mm shape error) experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_17636 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Single-Fiber Optical Frequency Domain Reflectometry Shape Sensing of Continuum Manipulators with Planar Bending Tavangarifard, Mobina Ovalle, Wendy Rodriguez Alambeigi, Farshid Robotics Systems and Control To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly utilizing solely a single Optical Frequency Domain Reflectometry (OFDR) fiber attached to a flat nitinol wire (NiTi). Integrating this easy-to-manufacture unique sensor with a long and soft CM with 170 mm length, we performed different experiments to evaluate its shape reconstruction ability. Results demonstrate phenomenal shape reconstruction accuracy for both C-shape (< 2 mm tip error, < 1.2 mm shape error) and J-shape (< 3.4 mm tip error, < 2.3 mm shape error) experiments. |
| title | Single-Fiber Optical Frequency Domain Reflectometry Shape Sensing of Continuum Manipulators with Planar Bending |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2405.17636 |