単一光ファイバOFDRによる平面曲げ連続体マニピュレータの形状センシング
Single-Fiber Optical Frequency Domain Reflectometry Shape Sensing of Continuum Manipulators with Planar Bending
単一のOFDR光ファイバをニチノールワイヤに貼り付けた簡易なセンサで、長さ170mmの柔軟な連続体マニピュレータの形状を高精度に再構成できることを示した。
著者: Mobina Tavangarifard, Wendy Rodriguez Ovalle, Farshid Alambeigi
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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.
