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Stretchable optical fibre sensor for soft surgical robot shape reconstruction

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He Y. , Gao L. , Bai Y. , Zhu H. , Sun G. , Zhu L. , Xu H.

tom 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.

Study on the mechanism and kinetics of sulfuric acid leaching scandium from rich scandium anatase

100%

He F. , Gao L. , Chen L. , Rao B. , Shen H. , Peng K. , Gao G.

tom Vol. 58, iss. 3

art. no. 146171

Scandium and its compounds have excellent properties, and are widely used in cutting-edge fields such as optics, electronics, and alloys. Thus, scandium is an important strategic metal. However, scandium is extremely sparsely distributed in the earth's crust, rarely occurs as an independent mineral, and requires a complex recovery process. Therefore, the study of the extraction of scandium is of great practical significance. This study examined the leaching test and kinetics of scandium under the acid leaching system of refractory anatase ore. Under appropriate two-stage countercurrent leaching conditions, the first stage of the particle size of fraction of -0.074 mm 82.6%, initial H2SO4 concentration of 6 mol/L, leaching temperature of 100 °C, acid/solid ratio of 3 ml/g, stirring speed of 300 rpm, and leaching time of 50 min; and the second stage of the initial H2SO4 concentration of 11 mol/L, leaching temperature of 150 °C, acid/solid ratio of 4 ml/g, stirring speed of 300 rpm, and leaching time of 50 min, a scandium leaching rate of 96.98% was achieved. The kinetics of scandium leaching conformed to a shrinking-core model, and sulfuric acid concentration and temperature were the most important parameters affecting the scandium leaching rate. The kinetic analysis of scandium leaching at different sulfuric acid concentrations showed that as the concentration increased, the sulfuric acid leaching of scandium changed from being chemical reaction-controlled to internal diffusion-controlled, and the apparent reaction order was 1.2429. The kinetics of scandium leaching at different temperatures showed that the sulfuric acid leaching of scandium was reaction-controlled and the apparent activation energy was 42.21 kJ-mol-1.