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Sensing of Continuum Robots: A Review
Peter Jan Sincak1, Erik Prada1, Ľubica Miková1
1Faculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, Slovakia.
Sensors (Basel, Switzerland)
|February 24, 2024
Summary
Continuum robots use electricity, magnetism, and optics for shape sensing. Key challenges include miniaturization and developing novel sensing methods for robots and their environment.
Area of Science:
- Robotics
- Sensor Technology
- Mechanical Engineering
Background:
- Continuum robotics is a rapidly advancing field.
- Sensing methodologies are crucial for robot development, encompassing shape and environment perception.
- Environment perception focuses on robot-environment interactions, often using embedded sensors.
- Shape perception involves measuring the robot's form using various principles.
Purpose of the Study:
- To categorize and differentiate sensors used in continuum robotics.
- To analyze trends and progress in continuum robot sensing technologies.
- To identify current challenges faced by researchers in continuum robot sensing.
Main Methods:
- Categorization of sensors based on underlying physical principles: electricity, magnetism, and optics.
- Review of existing literature to identify sensor types, applications, and developmental trends.
- Analysis of reported challenges in sensor miniaturization and novel method development.
Main Results:
- Sensors are grouped into electrical (resistance, capacitance), magnetic (magnets, coils), and optical (optical fibers) types.
- Trends indicate a progression towards more integrated and sophisticated sensing solutions.
- Identified challenges include the need for sensor miniaturization and innovation in sensing approaches.
Conclusions:
- Effective sensing is vital for the advancement of continuum robotics.
- A clear understanding of sensor categories and their principles is established.
- Future research should focus on overcoming miniaturization hurdles and pioneering new sensing techniques.
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