ArticleIEEE sensors journal2023
Design and Fabrication of a Fiber Bragg Grating Shape Sensor for Shape Reconstruction of a Continuum Manipulator.
Article in IEEE sensors journal, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed, 23 citations in OpenAlex.
- Analytical Kinematic Model and RCM Control of a Parallel-Serial Steady-Hand Eye Robot.Journal of mechanisms and robotics · 2026Article
- Bimanual Manipulation of Steady-Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies.IEEE transactions on human-machine systems · 2025Article
- Stretchable, Multiplexed, and Bimodal Sensing Electronic Armor for Colonoscopic Continuum Robot Enhanced by Triboelectric Artificial Synapse.Advanced materials (Deerfield Beach, Fla.) · 2025Article
- Model Predictive Path Integral Control of IProceedings of the ... American Control Conference. American Control Conference · 2025Article
- Shape Sensing of Continuum Manipulators with Fiber Bragg Grating Sensor Arrays: Accounting for Actuator Velocity Effects.IEEE sensors journal · 2025Article
- A Data-Driven Model with Hysteresis Compensation for I... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2024Article
- Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2024Article
- Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation.Sensors (Basel, Switzerland) · 2023Review
- Data-driven Shape Sensing of Continuum Dexterous Manipulators Using Embedded Capacitive Sensor.Proceedings of IEEE Sensors. IEEE International Conference on Sensors · 2023Article
Corrections and comments
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Authors and funding
7 authors at 1 institution in 1 country.
Funding
Abstract
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control of CDMs' shape during nonconstant curvature bending is still challenging. This study presents a novel approach for the design and fabrication of a large deflection fiber Bragg grating (FBG) shape sensor embedded within the lumens inside the walls of a CDM with a large instrument channel. The shape sensor consisted of two fibers, each with three FBG nodes. A shape-sensing model was introduced to reconstruct the centerline of the CDM based on FBG wavelengths. Different experiments, including shape sensor tests and CDM shape reconstruction tests, were conducted to assess the overall accuracy of the shape-sensing. The FBG sensor evaluation results revealed the linear curvature-wavelength relationship with the large curvature detection of 0.045 mm and a high wavelength shift of up to 5.50 nm at a 90° bending angle in both the bending directions. The CDM's shape reconstruction experiments in a free environment demonstrated the shape-tracking accuracy of 0.216 ± 0.126 mm for positive/negative deflections. Also, the CDM shape reconstruction error for three cases of bending with obstacles was observed to be 0.436 ± 0.370 mm for the proximal case, 0.485 ± 0.418 mm for the middle case, and 0.312 ± 0.261 mm for the distal case. This study indicates the adequate performance of the FBG sensor and the effectiveness of the model for tracking the shape of the large-deflection CDM with nonconstant-curvature bending for minimally invasive orthopedic applications.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.