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

verfasst von

Vincent Modes, Tobias Ortmaier, Jessica Burgner-Kahrs

Abstract

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.

Organisationseinheit(en)

Institut für Mechatronische Systeme
Mechatronik-Zentrum Hannover

Typ

Artikel

Journal

IEEE sensors journal

Band

21

Seiten

6712-6723

Anzahl der Seiten

12

ISSN

1530-437X

Publikationsdatum

11.12.2020

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Instrumentierung, Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.1109/jsen.2020.3043999 (Zugang: Geschlossen)