Single-Fiber Optical Frequency Domain Reflectometry Shape Sensing of Continuum Manipulators with Planar Bending
<|reference_start|>Single-Fiber Optical Frequency Domain Reflectometry Shape Sensing of Continuum Manipulators with Planar Bending: To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly utilizing solely a single Optical Frequency Domain Reflectometry (OFDR) fiber attached to a flat nitinol wire (NiTi). Integrating this easy-to-manufacture unique sensor with a long and soft CM with 170 mm length, we performed different experiments to evaluate its shape reconstruction ability. Results demonstrate phenomenal shape reconstruction accuracy for both C-shape (< 2 mm tip error, < 1.2 mm shape error) and J-shape (< 3.4 mm tip error, < 2.3 mm shape error) experiments.<|reference_end|>
@article{tavangarifard2024single-fiber,
    title={Single-Fiber Optical Frequency Domain Reflectometry Shape Sensing of
  Continuum Manipulators with Planar Bending},
    author={Mobina Tavangarifard, Wendy Rodriguez Ovalle, and Farshid Alambeigi},
    journal={arXiv preprint arXiv:2405.17636},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.17636},
    primaryClass={cs.RO cs.SY eess.SY}
}