2016
Curvature, Torsion, and Force Sensing in Continuum Robots Using Helically Wrapped FBG Sensors
RA-L 2016
Due to their small size and flexibility, fiber Bragg grating (FBG) sensors have been integrated into needle-sized continuum robots for shape estimation and force measurement. The challenge in extending previous shape and force sensing technologies to pre-curved continuum robots, such as concentric-t