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Article: Real-time Surface Shape Sensing for Soft and Flexible Structures using Fiber Bragg Gratings

TitleReal-time Surface Shape Sensing for Soft and Flexible Structures using Fiber Bragg Gratings
Authors
KeywordsRobot sensing systems
Shape
Strain
Fiber gratings
Surface reconstruction
Issue Date2019
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE
Citation
IEEE Robotics and Automation Letters, 2019, v. 4 n. 2, p. 1454-1461 How to Cite?
AbstractIn this letter, we present anew soft and flexible sensor which can reconstruct its surface shape in real time. A singlecore optical fiber with fiber Bragg gratings (FBGs) is capable of detecting sparse local strains at high bandwidth using wavelengthdivision multiplexing. The fiber was embedded into an elastomeric substrate to reconstruct its global surface morphology. Finite element analysis was used to determine the design parameters, and also to validate the unique mapping from sparse strain measurements to the continuum shape of the sensor. To simplify the fabrication and error compensation process without precise/prior knowledge of the FBG locations in the sensor, machine learning-based modeling was applied. This enables real time, robust and reliable shape reconstruction. It is demonstrated to outperform various applications of electronics-based sensors, which require sophisticated electrode wiring and noise reduction. Experiments were performed to evaluate the sensing accuracy and repeatability.
Persistent Identifierhttp://hdl.handle.net/10722/272702
ISSN

 

DC FieldValueLanguage
dc.contributor.authorLun, TLT-
dc.contributor.authorWang, K-
dc.contributor.authorHo, JDL-
dc.contributor.authorLee, KH-
dc.contributor.authorSze, KY-
dc.contributor.authorKwok, KW-
dc.date.accessioned2019-08-06T09:14:56Z-
dc.date.available2019-08-06T09:14:56Z-
dc.date.issued2019-
dc.identifier.citationIEEE Robotics and Automation Letters, 2019, v. 4 n. 2, p. 1454-1461-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/10722/272702-
dc.description.abstractIn this letter, we present anew soft and flexible sensor which can reconstruct its surface shape in real time. A singlecore optical fiber with fiber Bragg gratings (FBGs) is capable of detecting sparse local strains at high bandwidth using wavelengthdivision multiplexing. The fiber was embedded into an elastomeric substrate to reconstruct its global surface morphology. Finite element analysis was used to determine the design parameters, and also to validate the unique mapping from sparse strain measurements to the continuum shape of the sensor. To simplify the fabrication and error compensation process without precise/prior knowledge of the FBG locations in the sensor, machine learning-based modeling was applied. This enables real time, robust and reliable shape reconstruction. It is demonstrated to outperform various applications of electronics-based sensors, which require sophisticated electrode wiring and noise reduction. Experiments were performed to evaluate the sensing accuracy and repeatability.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.rightsIEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectRobot sensing systems-
dc.subjectShape-
dc.subjectStrain-
dc.subjectFiber gratings-
dc.subjectSurface reconstruction-
dc.titleReal-time Surface Shape Sensing for Soft and Flexible Structures using Fiber Bragg Gratings-
dc.typeArticle-
dc.identifier.emailLee, KH: brianlkh@HKUCC-COM.hku.hk-
dc.identifier.emailSze, KY: kysze@hku.hk-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authoritySze, KY=rp00171-
dc.identifier.authorityKwok, KW=rp01924-
dc.description.naturepostprint-
dc.identifier.doi10.1109/LRA.2019.2893036-
dc.identifier.scopuseid_2-s2.0-85065930236-
dc.identifier.hkuros300150-
dc.identifier.volume4-
dc.identifier.issue2-
dc.identifier.spage1454-
dc.identifier.epage1461-
dc.publisher.placeUnited States-

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