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Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators

Noh, Y; Sareh, S; Wurdemann, H; Liu, H; Back, J; Housden, J; Rhode, K; (2016) Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators. IEEE Sensors Journal , 16 (6) pp. 1641-1651. 10.1109/JSEN.2015.2488099. Green open access

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Abstract

This paper proposes a force/torque sensor structure that can be easily integrated into a flexible manipulator structure. The sensor's ring-like structure with its hollow inner section provides ample space for auxiliary components, such as cables and tubes, to be passed through and, hence, is very suitable for integration with tendon-driven and fluid-actuated manipulators. The sensor structure can also accommodate the wiring for a distributed sensor system as well as for diagnostic instruments that may be incorporated in the manipulator. Employing a sensing approach based on optical fibers as done here allows for the creation of sensors that are free of electrical currents at the point of sensing and immune to magnetic fields. These sensors are inherently safe when used in the close vicinity of humans and their measuring performance is not impaired when they are operated in or nearby machines, such as magnetic resonance imaging scanners. This type of sensor concept is particularly suitable for inclusion in instruments and robotic tools for minimally invasive surgery. This paper summarizes the design, integration challenges, and calibration of the proposed optical three-axis force sensor. The experimental results confirm the effectiveness of our optical sensing approach and show that after calibrating its stiffness matrix, force and momentum components can be determined accurately.

Type: Article
Title: Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/JSEN.2015.2488099
Publisher version: http://dx.doi.org/10.1109/JSEN.2015.2488099
Language: English
Additional information: Copyright © 2016 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.
Keywords: Force sensors, light intensity modulation, optoelectronic and photonic sensors, surgical robotics
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/1482174
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