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

6 Citations (Scopus)
346 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.
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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.",
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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

TY - GEN

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AU - Roesthuis, Roy

AU - Misra, S.

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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