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This study presents a real-time shape-estimation algorithm for continuum robots using force-torque data. The method enables safer robot navigation and interaction by accurately sensing robot shape.

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concentric tube continuum robotdiscrete kirchoff rodreal-timeshape estimationshape sensing

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Real-time shape-sensing is crucial for advanced algorithms in continuum robots.
  • Safe environmental interaction, path planning, and control necessitate accurate shape estimation.

Purpose of the Study:

  • To develop a real-time shape-estimation algorithm for concentric tube continuum robots.
  • To leverage force-torque information for enhanced shape sensing capabilities.

Main Methods:

  • Extends elastic rod shape estimation using discrete Kirchhoff rod theory.
  • Combines with a piecewise constant curvature model for computational efficiency.
  • Models robots as segments of planar constant curvatures on equilibrium planes.

Main Results:

  • Achieved a high estimation frequency of 333 Hz for two combined tubes.
  • Demonstrated mean deviations along the tube backbone between 1.91-5.22 mm.
  • Validated the approach on single and two additively manufactured tubes.

Conclusions:

  • The proposed algorithm provides efficient and accurate real-time shape sensing for continuum robots.
  • This method supports the development of safer and more advanced robotic applications.
  • Force-torque data is a viable input for real-time shape estimation in continuum robotics.