State measurement and sensing characteristics analysis of soft maniputator based on helical optical fiber

Hangwei Zhu; Yanlin He; Guangkai Sun; Yanming Song; Lianqing Zhu

doi:10.3788/IRLA20200276

[1] Gao Changqing. Robotic Surgery[M]. Beijing: People’s Medical Publishing House, 2015.（in Chinese）

[2] Yili Fu, B Pan. Research progress of surgical robot for minimally invasive surgery. Journal of Harbin Institute of Technology, 51, 1-15(2019).

[3] J Payne, I Wamala, D BautistaSalinas. Soft robotic ventricular assist device with septal bracing for therapy of heart failure. Science Robotics, 2, eaan6736(2017).

[4] T Ranzani, G Gerboni, M Cianchetti. A bioinspired soft manipulator for minimally invasive surgery. Bioinspiration & Biomimetics, 10, 35-38(2015).

[5] C Laschi, B Mazzolai, M Cianchetti. Soft robotics: Technologies and systems pushing the boundaries of robot abilities. Science Robotics, 1, eaah3690(2016).

[6] Wenqi Hu, G Z Lum, M Mastrangeli. Small-scale soft-bodied robot with multimodal locomotion. Nature, 554, 81-85(2018).

[7] H Wang, M Totaro, L Beccai. Toward perceptive soft robots: progress and challenges. Advanced Science, 5, 1800541(2018).

[8] T Shen, Binchao Sun, Y Feng. Mach-Zehneder interference all-fiber sensor measurement of magnetic field and temperature. Optics and Precision Engineering, 26, 1338-1345(2018).

[9] Huaping Wang, P Xiang. Optimization design of optical fiber sensors based on strain transfer theory. Optics and Precision Engineering, 24, 1233-1241(2016).

[10] J Ge, A E James, X Li. Bidirectional soft silicone curvature sensor based on off-centered embedded fiber bragg grating. IEEE Photonics Technolonics Letters, 28, 2237-2240(2016).

[11] P S Westbrook, T K Kremp, K S Feder. Continuous multicore optical fiber grating arrays for distributed sensing applications. Journal of Lightwave Technology, 35, 1248-1252(2017).

[12] Y Zhao, C Wang, G Yin. Simultaneous directional curvature and temperature sensor based on a tilted few-mode fiber Bragg grating. Applied Optics, 57, 1671-1678(2018).

[13] Kaiyu Zhang, G Yan, Fanyong Meng. Temperature decoupling and high strain sensitivity fiber Bragg grating sensor. Optics and Precision Engineering, 26, 1330-1337(2018).

[14] Yongxing Guo, L Xiong, Jianyi Kong. Sliding type fiber Bragg grating displacement sensor. Optics and Precision Engineering, 25, 50-58(2017).

[15] Clements G M. Fiber optic sens f precision 3D position measurement: US, 10376184[P]. 20040826.

[16] A Bajo, N Simaan. Kinematics-based detection and localization of contacts along multisegment continuum robots. IEEE Transactions on Robotics, 28, 291-302(2012).

[17] S Sareh, Y Noh, M Li. Macrobend optical sensing for pose measurement in soft robot arms. Smart Materials & Structures, 24, 125024(2015).

[18] H Liu, A Farvardin, R Grupp. Shape tracking of a dexterous continuum manipulator utilizing two large deflection shape sensors. IEEE Sensors Journal, 15, 5494-5503(2015).

[19] H Wang, R Zhang, W Chen. Shape detection algorithm for soft manipulator based on fiber Bragg gratings. IEEE/ASME Transactions on Mechatronics, 21, 2977-2982(2016).

[20] K C Galloway, Yue Chen, Emily Templeton. Fiber optic shape sensing for soft robotics. Soft Robotics, 6, 671-684(2019).

[21] Xu R, Asadian A, Atashzar S F, et al. Realtime trajecty tracking f externally loaded concentrictube robots[C]IEEE International Conference on Robotics Automation, 2014: 43744379.