Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators

Koh, Jia Han Benjamin; Jeong, Taegyun; Han, Sangjin; Li, Wanlin; Rhode, Kawal; Noh, Yohan

doi:10.1109/embc.2019.8856882

Cited by 7 publications

(8 citation statements)

References 14 publications

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“…The technique offers a simple, small, biocompatible system that does not intrinsically depend on curvature limiting properties such as strain or temperature and can be adapted to work with different continuum robotic structures. Koh et al [1] showed early stages of this work, presenting a shape sensing method using optoelectronic sensors integrated within 3-plates of a tendon actuated flexible robot (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

Development of an Optical Shape Sensing Method Using Optoelectronic Sensors for Soft Flexible Robotic Manipulators in MIS

Osman

et al. 2022

IEEE Trans. Med. Robot. Bionics

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this paper presents the novel design of an optical shape sensing method using optoelectronic sensors, for integration into flexible soft robotic manipulators, to measure pose in two orientations. Shape sensing in soft robotic tools that allow stable and accurate position control in Minimally Invasive Surgery is critical, although innovations are yet to be explored in a simple, cost-effective sensing technique. Presented in this work is a continuation of the work of Koh et.al [1], with demonstration of the use of a designed 4-plate tendon-actuated flexible manipulator and optimised design parameters for the sensing principle. Developed calibration platform shows an increase in accuracy for shape sensing using linear and non-linear regression models. Further development is required on miniaturisation to refine accuracy and targeted application.

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Section: Introductionmentioning

confidence: 99%

Development of an Optical Shape Sensing Method Using Optoelectronic Sensors for Soft Flexible Robotic Manipulators in MIS

Osman

et al. 2022

IEEE Trans. Med. Robot. Bionics

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“…The gyroscopes and accelerometers provide the orientation of the object in 3D for visualization purposes. It is a low-cost technique using mass-produced sensors and data acquisition tools available in the market (Benjamin Koh et al , 2019). SensorTape is a commercially successful optoelectronic-based shape sensor which uses printed electronics on a narrow ribbon type sheet to accommodate all the LED sources such as light detectors and conducting lines (Dementyev et al , 2015).…”

Section: Review Of Shape Sensing Methods and Fiber Optics Based Shape Sensingmentioning

confidence: 99%

Recent trends and role of large area flexible electronics in shape sensing application – a review

Shaik

Rufus

2021

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Purpose This paper aims to review the shape sensing techniques using large area flexible electronics (LAFE). Shape perception of humanoid robots using tactile data is mainly focused. Design/methodology/approach Research papers on different shape sensing methodologies of objects with large area, published in the past 15 years, are reviewed with emphasis on contact-based shape sensors. Fiber optics based shape sensing methodology is discussed for comparison purpose. Findings LAFE-based shape sensors of humanoid robots incorporating advanced computational data handling techniques such as neural networks and machine learning (ML) algorithms are observed to give results with best resolution in 3D shape reconstruction. Research limitations/implications The literature review is limited to shape sensing application either two- or three-dimensional (3D) LAFE. Optical shape sensing is briefly discussed which is widely used for small area. Optical scanners provide the best 3D shape reconstruction in the noncontact-based shape sensing; here this paper focuses only on contact-based shape sensing. Practical implications Contact-based shape sensing using polymer nanocomposites is a very economical solution as compared to optical 3D scanners. Although optical 3D scanners can provide a high resolution and fast scan of the 3D shape of the object, they require line of sight and complex image reconstruction algorithms. Using LAFE larger objects can be scanned with ML and basic electronic circuitory, which reduces the price hugely. Social implications LAFE can be used as a wearable sensor to monitor critical biological parameters. They can be used to detect shape of large body parts and aid in designing prosthetic devices. Tactile sensing in humanoid robots is accomplished by electronic skin of the robot which is a prime example of human–machine interface at workplace. Originality/value This paper reviews a unique feature of LAFE in shape sensing of large area objects. It provides insights from mechanical, electrical, hardware and software perspective in the sensor design. The most suitable approach for large object shape sensing using LAFE is also suggested.

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“…Several successful studies using the optoelectronic sensor have been reported for sensing shape information. Benjamin et al employed three photoelectric sensing elements (QRE1113, Fairchild Semiconductor Corp.) to estimate the shape of a snake-like flexible manipulator [32], and Dalia et al integrated them into the joints of a robot hand finger to measure its shapes [33]. In the former case, although the concept and idea were novel, the pose sensing accuracy was not precisely guaranteed.…”

Section: Introductionmentioning

confidence: 99%

Optoelectronic-Based Pose Sensing for a Hand Rehabilitation Exoskeleton Continuous Structure

Liang

et al. 2022

IEEE Sensors J.

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Hand exoskeleton pose monitoring is of great importance in the rehabilitation training of stroke patients to ensure precise robotic trajectory control and provide a patient recovery assessment mechanism. In this paper, a low-cost pose sensor unit based on the principle of photoelectric reflection is proposed to measure the pose of a multi-segment continuous structure in a hand rehabilitation exoskeleton. The sensor unit consists of five photosensitive elements that measure the rotation angle of an arrangement of adjacent segments, each integrated with a sensing element, to estimate the actuator's motion. An accurate device with a user-friendly interface is then designed for calibration of the sensing elements. The experimental results indicate that the sensitivity exceeds 0.047 V/° for the sensing elements, and hysteresis and repeatability errors are less than 1.1% and 1.8%, respectively. A comparison between the proposed sensor output and the results benchmarked by a VICON motion capture system demonstrates that the sensor can measure the bending angle of the multi-segment structure with a mean error of 3.23 degrees.

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Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators

Cited by 7 publications

References 14 publications

Development of an Optical Shape Sensing Method Using Optoelectronic Sensors for Soft Flexible Robotic Manipulators in MIS

Development of an Optical Shape Sensing Method Using Optoelectronic Sensors for Soft Flexible Robotic Manipulators in MIS

Recent trends and role of large area flexible electronics in shape sensing application – a review

Optoelectronic-Based Pose Sensing for a Hand Rehabilitation Exoskeleton Continuous Structure

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