Abstract:<p>Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is required to manipulate through fragile paths. This challenge has been addressed using a range of different sensing techniques, for example, FBG technology, IMU networks or stretch sensors. Previously, an optics-based method, using optoelectronic sensors was explore… Show more
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