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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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Published on: November 14, 2015

Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators.

Jia Han Benjamin Koh, Taegyun Jeong, Sangjin Han

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|January 18, 2020

Summary

This summary is machine-generated.

This study introduces a novel two-axis shape sensor for flexible robotic arms. The bio-compatible optical sensor accurately estimates robotic arm shape, pitch, and roll in real-time.

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Area of Science:

Robotics
Optical Sensing
Biocompatible Materials

Background:

Flexible robotic manipulators require advanced shape sensing capabilities for precise control and interaction.
Existing shape sensing technologies may lack the flexibility, biocompatibility, or real-time performance needed for certain applications.

Purpose of the Study:

To present a novel two-axis shape sensor for flexible robotic manipulators.
To demonstrate the sensor's integration with a flexible manipulator arm for overall shape measurement.
To validate the sensor's performance through design, calibration, and experimental results.

Main Methods:

Development of a disc-shape, bio-compatible two-axis optical optoelectronic sensor.
Integration of the sensor into a flexible manipulator arm.
Design and calibration procedures for the sensor.
Experimental validation to estimate pitch and roll in real-time.

Main Results:

The developed sensor can be embedded within flexible manipulators.
Experimental results confirm the sensor's ability to measure the geometry of the manipulator.
A sensor matrix was defined for real-time estimation of pitch and roll.
The optical sensing approach proved effective for shape measurement.

Conclusions:

The novel two-axis shape sensor is a viable solution for measuring the shape of flexible robotic manipulators.
The bio-compatible and disc-shape design allows for seamless integration into robotic structures.
The real-time estimation capabilities enhance the potential applications of flexible robotic systems.