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2 Optica Applicata

2 2021

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Stretchable optical fibre sensor for soft surgical robot shape reconstruction

He Yanlin, Gao Likun, Bai Yuchen, Zhu Hangwei, Sun Guangkai, Zhu Lianqing, Xu Haidong

Optica Applicata

2021

Vol. 51, nr 4

589--604

Soft robotics presents several advantages in the field of minimally invasive surgery. However, existing methods have not fully addressed problems related to soft robot shape sensing due to the complex motion of soft robots and the stretchable nature of the soft materials employed. This study demonstrates the shape sensing of a soft robot with a helically embedded stretchable fibre Bragg grating (FBG)-based optical fibre sensor. Unlike straight FBG embedding configurations, this unique helical configuration prevents sensor dislocation, supports material stretchability, and facilitates shape detection for various soft-robot movements. The proposed soft-robot design principle and FBG sensor are analysed and their fabrication process, which includes an FBG-written optical fibre sensor, is described. Bending experiments are conducted with the soft robot, the wavelengths of FBG sensors at different bending and telescopic movement states are obtained, and the soft-robot shape is reconstructed. Experimental results demonstrate that the maximum error between FBG sensing and the actual bending state is less than 2.5%, validating the feasibility and effectiveness of the proposed helical stretchable FBG sensing method for the shape measurement of soft robots. These results indicate the potential and applicability of this shape-sensing approach in biomedical research.

Dual-parameter sensing characteristics of a single fiber Bragg grating half-pasted by 1C-LV epoxy under different curing

Li Hong, Zhang Haoyue, Song Yanming, Meng Fanyong, Zhu Lianqing

Optica Applicata

2021

Vol. 51, nr 3

391--406

A novel technology for the simultaneous and independent measurement of dual parameters is proposed and experimented. By using a single fiber Bragg grating half-pasted by 1C-LV epoxy under different curing conditions, the sensor structure is designed such that the reflective single-peak spectrum splits into a twin-peak spectrum, which makes the FBG spectrum form a natural spectral peak splitting bias. A measurement limitation exists in the FBG sensor packaging at room temperature, which can be solved by the high-temperature cured packaging method. To verify the validity of the theory and methodology, the experimental system is used. In the range from –1000 to +1000 με and from 35 to 75°C, the Bragg wavelength change is relative linear to the strain and temperature. The temperature and strain variations can be independently and simultaneously measured using the split peak, and the deviations of the FBG sensor are ±1°C and ±5 με, respectively. This single FBG sensor can realize dual-parameter measurement, which is valuable for narrow-space health monitoring.