Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors

Fouzia Khan, Roy Roesthuis, S. Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    7 Citations (Scopus)
    358 Downloads (Pure)

    Abstract

    The presence of force feedback in medical instruments has been proven to reduce tissue damage. In order to provide force feedback, information about the interaction forces between the instrument and the environment must be known. Direct measurement of these forces by commercial sensors is not feasible due to space limitations. Thus, in this study we propose to estimate the interaction forces using strain measurements from Fiber Bragg Grating (FBG) sensors. These measurements can also be used for shape sensing and as a result both force and shape can be sensed simultaneously. For force sensing two models are proposed and compared. The first is based on a Rigid Link approximation, while the second uses the Cosserat rod theory. The models are validated experimentally using a tendon-driven continuum manipulator that is subjected to forces at the tip. The force estimates from the models are compared to the measurements from a commercial force sensor. Mean absolute errors of 11.2 mN (6.9%) and 15.9 mN (8.3%) are observed for the Rigid Link model and Cosserat model, respectively.
    Original languageEnglish
    Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    PublisherIEEE
    ISBN (Electronic)978-1-5386-2682-5
    DOIs
    Publication statusPublished - Sep 2017
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017: Friendly People, Friendly Robots - Vancouver, Canada
    Duration: 24 Sep 201728 Sep 2017
    http://iros2017.org/
    https://www.iros2017.org/

    Conference

    ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    Abbreviated titleIROS 2017
    CountryCanada
    CityVancouver
    Period24/09/1728/09/17
    Internet address

    Fingerprint

    Fiber Bragg gratings
    Manipulators
    Sensors
    Feedback
    Force measurement
    Strain measurement
    Tendons
    Tissue

    Cite this

    Khan, F., Roesthuis, R., & Misra, S. (2017). Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) IEEE. https://doi.org/10.1109/IROS.2017.8206073
    Khan, Fouzia ; Roesthuis, Roy ; Misra, S. / Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017.
    @inproceedings{7ee788aeb3ad4c748039c7c81bb7aeba,
    title = "Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors",
    abstract = "The presence of force feedback in medical instruments has been proven to reduce tissue damage. In order to provide force feedback, information about the interaction forces between the instrument and the environment must be known. Direct measurement of these forces by commercial sensors is not feasible due to space limitations. Thus, in this study we propose to estimate the interaction forces using strain measurements from Fiber Bragg Grating (FBG) sensors. These measurements can also be used for shape sensing and as a result both force and shape can be sensed simultaneously. For force sensing two models are proposed and compared. The first is based on a Rigid Link approximation, while the second uses the Cosserat rod theory. The models are validated experimentally using a tendon-driven continuum manipulator that is subjected to forces at the tip. The force estimates from the models are compared to the measurements from a commercial force sensor. Mean absolute errors of 11.2 mN (6.9{\%}) and 15.9 mN (8.3{\%}) are observed for the Rigid Link model and Cosserat model, respectively.",
    author = "Fouzia Khan and Roy Roesthuis and S. Misra",
    year = "2017",
    month = "9",
    doi = "10.1109/IROS.2017.8206073",
    language = "English",
    booktitle = "2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
    publisher = "IEEE",
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    }

    Khan, F, Roesthuis, R & Misra, S 2017, Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors. in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24/09/17. https://doi.org/10.1109/IROS.2017.8206073

    Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors. / Khan, Fouzia ; Roesthuis, Roy; Misra, S.

    2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    T1 - Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors

    AU - Khan, Fouzia

    AU - Roesthuis, Roy

    AU - Misra, S.

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    Y1 - 2017/9

    N2 - The presence of force feedback in medical instruments has been proven to reduce tissue damage. In order to provide force feedback, information about the interaction forces between the instrument and the environment must be known. Direct measurement of these forces by commercial sensors is not feasible due to space limitations. Thus, in this study we propose to estimate the interaction forces using strain measurements from Fiber Bragg Grating (FBG) sensors. These measurements can also be used for shape sensing and as a result both force and shape can be sensed simultaneously. For force sensing two models are proposed and compared. The first is based on a Rigid Link approximation, while the second uses the Cosserat rod theory. The models are validated experimentally using a tendon-driven continuum manipulator that is subjected to forces at the tip. The force estimates from the models are compared to the measurements from a commercial force sensor. Mean absolute errors of 11.2 mN (6.9%) and 15.9 mN (8.3%) are observed for the Rigid Link model and Cosserat model, respectively.

    AB - The presence of force feedback in medical instruments has been proven to reduce tissue damage. In order to provide force feedback, information about the interaction forces between the instrument and the environment must be known. Direct measurement of these forces by commercial sensors is not feasible due to space limitations. Thus, in this study we propose to estimate the interaction forces using strain measurements from Fiber Bragg Grating (FBG) sensors. These measurements can also be used for shape sensing and as a result both force and shape can be sensed simultaneously. For force sensing two models are proposed and compared. The first is based on a Rigid Link approximation, while the second uses the Cosserat rod theory. The models are validated experimentally using a tendon-driven continuum manipulator that is subjected to forces at the tip. The force estimates from the models are compared to the measurements from a commercial force sensor. Mean absolute errors of 11.2 mN (6.9%) and 15.9 mN (8.3%) are observed for the Rigid Link model and Cosserat model, respectively.

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    Khan F, Roesthuis R, Misra S. Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. 2017 https://doi.org/10.1109/IROS.2017.8206073