Fiber-Optic
Sensor
Fiber-Optics enables high-speed, low-loss data transmission through flexible fibers, widely used in telecom, medicine, and sensing. Continuum robots are jointless, highly adaptable structures capable of smooth bending for applications like surgery and inspection. Integrating fiber optics into these robots provides precise sensing and control, significantly enhancing flexibility and precision in advanced robotics.
Continuum Robot
3D Shape Reconstruction
This research aims to develop precise sensors for continuum robots to enable real-time shape sensing in complex environments. Continuum robots, with their high degrees of freedom, are well-suited for tasks in confined spaces.
Optical sensors provide an effective sensing solution due to their resistance to electromagnetic interference and easy adaptability. The research team placed multiple non-directional fiber-optic curvature sensors along the robot’s surface. Additionally, the confocal fiber-optic sensor, with its wide measurement range, low temperature drift, and simple structure, is particularly suitable for harsh environments. The collected curvature data is processed using an optimization algorithm to determine the robot’s central curvature and bending direction.
Unlike bulky FBG-based systems, we developed a compact, intensity-based optical sensor for easy integration with continuum robots. By incorporating a custom driver circuit and a reflective coating at the fiber’s distal tip, we improved single-wavelength signal processing while minimizing overall size.
Fiber-Optics Sensor
3-Axis Micro-Force Sensor
In robot-assisted microsurgery, stable imaging is crucial for accurate optical theranostic endoscopy. We proposed a 3-DOF, fiber Bragg grating (FBG)–based micro force sensor with a hollow structure that accommodates existing surgical instruments. Our sensor features a dual-structure design, ensuring balanced measurement resolutions for both lateral and axial forces.
We developed a real-time motion capture system using fiber Bragg grating (FBG) sensors that overcomes common challenges like occlusion, drift, and electromagnetic interference. By integrating FBG-based angle, shape, and twist sensors on the joints in accordance with the degrees of freedom (DOF), our system reconstructs multi-DOF body movements in 3D.