FBG Robotics

Publications on FBG Robotics

Top Research Articles on FBG Robotics

M. Abayazid, M. Kemp and S. Misra, "3D flexible needle steering in soft-tissue phantoms using Fiber Bragg Grating sensors," In Proc. of IEEE International Conference on Robotics and Automation, Karlsruhe, pp. 5843-5849, May 2013. DOI: 10.1109/ICRA.2013.6631418 [IEEE link]

• Abstract: Needle insertion procedures are commonly used for surgical interventions. In this paper, we develop a three-dimensional (3D) closed-loop control algorithm to robotically steer flexible needles with an asymmetric tip towards a target in a soft-tissue phantom. Twelve Fiber Bragg Grating (FBG) sensors are embedded on the needle shaft. FBG sensors measure the strain applied on the needle during insertion. A method is developed to reconstruct the needle shape using the strain data obtained from the FBG sensors. Four experimental cases are conducted to validate the reconstruction method (single-bend, double-bend, 3D double-bend and drilling insertions). In the experiments, the needle is inserted 120 mm into a soft-tissue phantom. Camera images are used as a reference for the reconstruction experiments. The results show that the mean needle tip accuracy of the reconstruction method is 1.8 mm. The reconstructed needle shape is used as feedback for the steering algorithm. The steering algorithm estimates the region that the needle can reach during insertion, and controls the needle to keep the target in this region. Steering experiments are performed for 110 mm insertion, and the mean targeting accuracy is 1.3 mm. The results demonstrate the capability of using FBG sensors to robotically steer needles.
• Article's keywords: Needles, Sensors, Fiber gratings, Shape, Three-dimensional displays, Strain

Yong-Lae Park, Seok Chang Ryu, Richard J. Black, Kelvin K. Chau, Behzad Moslehi and Mark R. Cutkosky, "Exoskeletal Force-Sensing End-Effectors With Embedded Optical Fiber-Bragg-Grating Sensors," IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1319-1331, Dec. 2009. DOI: 10.1109/TRO.2009.2032965 [IEEE link]

• Abstract: Force sensing is an essential requirement for dexterous robot manipulation. We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and estimation of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. In this paper, we present a fabrication process that allows us to create hollow multimaterial structures with embedded fibers and the results of experiments to characterize the sensors and controlling contact forces in a system involving an industrial robot and a two-fingered dexterous hand. We also briefly describe the optical-interrogation method used to measure multiple sensors along a single fiber at kilohertz rates for closed-loop force control.
• Article's keywords: Optical fiber sensors, Optical sensors, Robot sensing systems, Sensor phenomena and characterization, Force sensors, Force control, Optical fibers, Exoskeletons, Optical device fabrication, Sensor systems

Alexandre Ferreira da Silva, Anselmo Filipe Goncalves, Luís Alberto de Almeida Ferreira, Francisco Manuel Moita Araujo, Paulo Mateus Mendes and José Higino Correia, "A Smart Skin PVC Foil Based on FBG Sensors for Monitoring Strain and Temperature," IEEE Transactions on Industrial Electronics, vol. 58, no. 7, pp. 2728-2735, Jul. 2011. DOI: 10.1109/TIE.2010.2057233 [IEEE link]

• Abstract: Electronic products, including sensors, are often used in harsh environments. However, many parameters, such as severe weather conditions, high electronic noise, or dangerous chemical compounds in situ, may compromise the required high reliability. Therefore, development of a reliable sensing solution for monitoring those extreme conditions may become a very challenging task. This paper presents a smart skin foil developed to meet this specific need. Fiber Bragg grating sensors, one of the most reliable sensor solutions nowadays, were embedded in a thin foil made of polyvinyl chloride, giving rise to a smart structure with high durability and high resistance, and a dimensional stability above 99%. In addition, the fabrication processes used are based on a technology that allows the development of large sensing areas. The sensing foil shows a linear stretching profile, with a slope of 7.8 nm per 1% elongation. After submitting the developed structure to temperature cycles, it revealed a thermal behavior of 0.1 nm/°C. Since the smart sensing structure was fabricated using available industrial fabrication processes, it is a feasible and ready-to-market solution.
• Article's keywords: Temperature sensors, Skin , Intelligent sensors, Temperature measurement, Capacitive sensors, Chemical sensors, Fabrication, Fiber gratings, Bragg gratings, Working environment noise

S. C. Ryu and P. E. Dupont, "FBG-based shape sensing tubes for continuum robots," IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, pp. 3531-3537, May 2014. DOI: 10.1109/ICRA.2014.6907368 [IEEE link]

• Abstract: Fiber Bragg gratings (FBG)-based optical sensors are a promising real-time technique for sensing the 3D curvature of continuum robots. Existing implementations, however, have relied on embedding optical fibers in small-diameter metal wires or needles. This paper proposes polymer tubes as an alternative substrate for the fibers. This approach separates the sensors from the robot structural components while using a minimal amount of the robot's tool lumen and providing the potential of inexpensive fabrication. Since the fibers are stiffer than the polymer substrate, however, design challenges arise in modeling strain transfer between the fibers and the tube substrate. To investigate the potential of this approach, a strain transfer model is derived and validated through simulation and experiment.
• Article's keywords: Strain, Electron tubes, Robot sensing systems, Substrates, Coatings, Wires

Ran Xu, Aaron Yurkewich and Rajni V. Patel, "Curvature, Torsion, and Force Sensing in Continuum Robots Using Helically Wrapped FBG Sensors," IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 1052-1059, July 2016. DOI: 10.1109/LRA.2016.2530867 [IEEE link]

• Abstract: Due to their small size and flexibility, fiber Bragg grating (FBG) sensors have been integrated into needle-sized continuum robots for shape estimation and force measurement. The challenge in extending previous shape and force sensing technologies to pre-curved continuum robots, such as concentric-tube robots, is that torsion information is essential for accurate shape estimation, and the force-strain relationship is nonlinear. In this letter, a novel helically wrapped FBG sensor design and corresponding force-curvature-strain model are developed to provide simultaneous curvature, torsion, and force measurement. To validate this design and modeling technique, two sensorized Nitinol tubes were fabricated and tested in an experimental setup. The results showed that accurate and sensitive curvature, torsion, and force measurements can be obtained at a 100 Hz sampling rate.
• Article's keywords: Robot sensing systems, Strain, Fiber gratings, Force

Research Articles on FBG Robotics (in Singapore)

Wenjie Lai, Lin Cao, Rex Xiao Tan, Phuoc Thien Phan, Jianzhong Hao, Swee Chuan Tjin, Soo Jay Phee, "Force Sensing With 1 mm Fiber Bragg Gratings for Flexible Endoscopic Surgical Robots," in IEEE/ASME Transactions on Mechatronics, vol. 25, no. 1, pp. 371-382, Feb. 2020. DOI: 10.1109/TMECH.2019.2951540

• Abstract: This article presents a novel force sensor to detect the distal force of tendon-sheath mechanisms (TSMs) in flexible endoscopic surgical robots. We propose to measure the compression force on the sheath at the distal end so that the tension force on the tendon, which equals the compression force on the sheath, can be obtained. With this approach, a new force sensor made up of a 1 mm fiber Bragg grating attached to a 3 mm long nitinol tube was developed to measure the compression force exerted on the sheath. Mechanics analysis and verification tests were conducted to characterize the relationship between tension and compression on a TSM. Force calibrations, hysteresis study, and temperature compensation verification tests on the sensor were carried out. The force sensor has a measurement error of 0.178 N and a sensitivity of 34.14 pm/N. Applications of the sensor in a TSM-driven robotic grasper and a tendon-driven continuum robot were demonstrated. This force sensor has salient advantages: it is small, structurally simple, electrically passive, temperature-compensated, easy to assemble and disassemble, flexible, and biocompatible. This proposed approach with the new force sensor can also be applied to both TSM-driven systems and tendon-driven systems such as robotic fingers/hands, wearable devices, surgical catheters, and rehabilitation devices.
• Article's keywords: Endoscopic surgical robots, fiber bragg gratings, haptic force sensing, tendon-sheath mechanisms (TSM)

Keywords

fiber bragg grating, fibre bragg grating, FBG, sensor, robot, robotic, application, robotics, medical, healthcare, medtech, I2R FBG sensor, technology, research, science, the Photonics Institute, TPI, Nanyang Technological University, NTU, Singapore, SG

Tags

#fbg #sensor #robotic #singapore #limjunlong