Shape Sensing for Continuum Robotics using Optoelectronic Sensors with Convex Reflectors
Electronics(2024)
摘要
Three-dimensional shape sensing in soft and continuum robotics is a crucial
aspect for stable actuation and control in fields such as Minimally Invasive
surgery, as the estimation of complex curvatures while using continuum robotic
tools is required to manipulate through fragile paths. This challenge has been
addressed using a range of different sensing techniques, for example, Fibre
Bragg grating (FBG) technology, inertial measurement unit (IMU) sensor networks
or stretch sensors. Previously, an optics-based method, using optoelectronic
sensors was explored, offering a simple and cost-effective solution for shape
sensing in a flexible tendon-actuated manipulator in two orientations. This was
based on proximity-modulated angle estimation and has been the basis for the
shape-sensing method addressed in this paper. The improved and miniaturized
technique demonstrated in this paper is based on the use of a spherically
shaped reflector with optoelectronic sensors integrated into a tendon actuated
robotic manipulator. Upgraded sensing capability is achieved using optimization
of the spherical reflector shape in terms of sensor range and resolution, and
improved calibration is achieved through the integration of spherical bearings
for friction-free motion. Shape estimation is achieved in two orientations upon
calibration of sensors, with a maximum Root Mean Square Error (RMS) of
3.37.
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关键词
shape sensing,optoelectronic sensors,continuum robotics
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