Fiber Optic Shape Sensing for Soft Robotics

Galloway, Kevin C.; Chen, Yue; Templeton, Emily; Rife, Brian; Godage, Isuru S.; Barth, Eric J.

doi:10.1089/soro.2018.0131

Cited by 114 publications

(57 citation statements)

References 31 publications

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“…In addition, the proposed method of fiber reinforcement is not dependent on the fiber material chosen, so long as it is nearly inextensible in the desired range of actuation forces. Enhanced geometric feedback could therefore be provided by replacing the cotton fibers used in this article with fiber-optic fibers, as used in Galloway et al (2019).…”

Section: Discussionmentioning

confidence: 99%

Controlling the deformation space of soft membranes using fiber reinforcement

Sholl

Moss

Krieg

et al. 2020

The International Journal of Robotics Research

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Recent efforts in soft-body control have been hindered by the infinite dimensionality of soft bodies. Without restricting the deformation space of soft bodies to desired degrees of freedom, it is difficult, if not impossible, to guarantee that the soft body will remain constrained within a desired operating range. In this article, we present novel modeling and fabrication techniques for leveraging the reorientation of fiber arrays in soft bodies to restrict their deformation space to a critical case. Implementing this fiber reinforcement introduces unique challenges, especially in complex configurations. To address these challenges, we present a geometric technique for modeling fiber reinforcement on smooth elastomeric surfaces and a two-stage molding process to embed the fiber patterns dictated by that technique into elastomer membranes. The variable material properties afforded by fiber reinforcement are demonstrated with the canonical case of a soft, circular membrane reinforced with an embedded, intersecting fiber pattern such that it deforms into a prescribed hemispherical geometry when inflated. It remains constrained to that configuration, even with an additional increase in internal pressure. Furthermore, we show that the fiber-reinforced membrane is capable of maintaining its hemispherical shape under a load, and we present a practical application for the membrane by using it to control the buoyancy of a bioinspired autonomous underwater robot developed in our lab. An additional experiment on a circular membrane that inflates to a conical frustum is presented to provide additional validation of the versatility of the proposed model and fabrication techniques.

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Section: Discussionmentioning

confidence: 99%

Controlling the deformation space of soft membranes using fiber reinforcement

Sholl

Moss

Krieg

et al. 2020

The International Journal of Robotics Research

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show abstract

“…The earlier system used only three fiber cores, hence could not take into account twist. Galloway et al investigated the possibility for sensing the planar surface shape accurately, 43 using a more recent system, also from Luna Innovations. Using 1.25 m of actively sensed fiber, a submillimeter accuracy is found.…”

Section: D In Contextmentioning

confidence: 99%

Shape accuracy of fiber optic sensing for medical devices characterized in bench experiments

et al. 2021

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Purpose: Fiber Optic RealShape (FORS) is a new technology that visualizes the full threedimensional shape of medical devices, such as catheters and guidewires, using an optical fiber embedded in the device. This three-dimensional shape provides guidance to clinicians during minimally invasive procedures, and enables intuitive navigation. The objective of this paper is to assess the accuracy of the FORS technology, as implemented in the current state-of-the-art Philips FORS system. The FORS system provides the shape of the entire device, including tip location and orientation. We consider all three aspects. Methods: In bench experiments, we determined the accuracy of the location and orientation of the tip by displacing and rotating the fiber end, while allowing the rest of the fiber to change shape freely. To test the accuracy of the full shape, we have placed the fiber in a groove, which was accurately machined in a thick, stiff metal "path plate." We then compared the reconstructed shape with the known shape of the groove. Results: The tip location is found with submillimeter accuracy, and the orientation is sensed with milliradian accuracy. The shape of a fiber in the path plate faithfully follows the known shape of the groove, with typical deviation less than 0.5 mm in the plane of the plate. Out of plane accuracy, perhaps slightly less relevant clinically, is more challenging, due to the influence of twist; yet even out of the plane, the deviation is only submillimeter. Conclusion:The technology achieves submillimeter precision and provides full three-dimensional shape, surpassing the reported precision of other navigation and tracking technologies, and therefore may potentially alleviate the need for fluoroscopy.

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“…A Fourier transform of these signals yields the phase and amplitude of the signal as a function of length along the sensor [18]. Changes in the local strain and temperature of the optic fiber sensor can be detected by comparing a scan of the sensor in a measurement state to a previously recorded reference scan [19]. Any position of the sensing fiber can be used to measure the strain and temperature, similar to the optic fiber etched with continuous distributed FBG sensors [20].…”

Section: Optic Frequency-domain Reflectometer-based Distributed Sensingmentioning

confidence: 99%

Detection of Pipeline Deformation Induced by Frost Heave Using OFDR Technology

2021

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Oil and gas pipelines are critical structures. For pipelines in the seasonal frozen soil area, frost heave of the ground will result in deformation of the pipeline. If the deformation continually increases, it will seriously threaten the pipeline safety. Therefore, it is important to monitor the deformation of the pipeline in the frozen soil area. Since optic frequency–domain reflectometer (OFDR) technology has many advantages in distributed strain measurement, this paper utilized the OFDR technology to measure the distributed strain and use the plane curve reconstruction algorithm to calculate the deformed pipeline shape. To verify the feasibility of this approach, a test was conducted to simulate the pipeline deformation induced by frost heave. Test results showed that the pipeline shape can be reconstructed well via the combination of the OFDR and curve reconstruction algorithm, providing a valuable approach for pipeline deformation monitoring.

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Fiber Optic Shape Sensing for Soft Robotics

Cited by 114 publications

References 31 publications

Controlling the deformation space of soft membranes using fiber reinforcement

Controlling the deformation space of soft membranes using fiber reinforcement

Shape accuracy of fiber optic sensing for medical devices characterized in bench experiments

Detection of Pipeline Deformation Induced by Frost Heave Using OFDR Technology

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