Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending, and Twisting

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dc.identifier.uri http://dx.doi.org/10.15488/10387
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10461
dc.contributor.author Modes, Vincent eng
dc.contributor.author Ortmaier, Tobias eng
dc.contributor.author Burgner-Kahrs, Jessica eng
dc.date.accessioned 2021-02-08T06:06:25Z
dc.date.available 2021-03-05T23:05:03Z
dc.date.issued 2020
dc.identifier.citation Modes, V.; Ortmaier,T.; Burgner-Kahrs, J.: Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending, and Twisting. In: IEEE Sensors Journal 21 (2021), Nr. 5, S. 6712-6723. DOI: https://doi.org/10.1109/JSEN.2020.3043999 eng
dc.description.abstract The inherent flexibility, the small dimensions as well as the curvilinear shape of continuum robots makes it challenging to precisely measure their shape. Optical fibers with Bragg gratings (FBGs) provide a powerful tool to reconstruct the centerline of continuum robots. We present a theoretical model to determine the shape of such a sensor array based on longitudinal strain measurements and incorporating bending, twisting, and elongation. To validate our approach, we conduct several simulations by calculating arbitrary shapes based on the Cosserat rod theory. Our algorithm showed a maximum mean relative shape deviation of 0.04%, although the sensor array was twisted up to 78°. Because we derive a closed-form solution for the strain curvature twist model, we also give analytical sensitivity values for the model, which can be used in the calculation of error propagation. eng
dc.language.iso eng eng
dc.publisher New York, NY : Institute of Electrical and Electronics Engineers (IEEE)
dc.relation.ispartofseries IEEE Sensors Journal 21 (2021), Nr. 5 eng
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. eng
dc.subject Continuum robot eng
dc.subject fiber Bragg grating sensors eng
dc.subject multi-core optical fiber eng
dc.subject shape sensing eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau eng
dc.title Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending, and Twisting eng
dc.type article eng
dc.type Text eng
dc.relation.essn 1558-1748
dc.relation.issn 1530-437X
dc.relation.doi 10.1109/JSEN.2020.3043999
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich


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