Shape Sensing of Flexible Robots Based on Deep Learning

Xuan Thao Ha; Di Wu; Mouloud OurakGianni BorghesanJenny DankelmanArianna MenciassiEmmanuel Vander Poorten

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Shape Sensing of Flexible Robots Based on Deep Learning

机译：Shape Sensing of Flexible Robots Based on Deep Learning

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In this article, a deep learning method for the shape sensing of continuum robots based on multicore fiber bragg grating (FBG) fiber is introduced. The proposed method, based on an artificial neural network (ANN), differs from traditional approaches, where accurate shape reconstruction requires a tedious characterization of many characteristic parameters. A further limitation of traditional approaches is that they require either multiple fibers, whose location relative to the centerline must be precisely known (calibrated), or a single multicore fiber whose position typically coincides with the neutral line. The proposed method addresses this limitation and, thus, allows shape sensing based on a single multicore fiber placed off-center. This helps in miniaturizing and leaves the central channel available for other purposes. The proposed approach was compared to a recent state-of-the-art model-based shape sensing approach. A two-degree-of-freedom benchtop fluidics-driven catheter system was built to validate the proposed ANN. The proposed ANN-based shape sensing approach was evaluated on a 40-mm-long steerable continuum robot in both 3-D free-space and 2-D constrained environments, yielding an average shape sensing error of 0.24 and 0.49 mm, respectively. With these results, the superiority of the proposed approach compared to the recent model-based shape sensing method was demonstrated.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1580-1593|共14页
作者
Xuan Thao Ha; Di Wu; Mouloud OurakGianni BorghesanJenny DankelmanArianna MenciassiEmmanuel Vander Poorten;
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作者单位

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium|The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy;

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium|Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands;

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, BelgiumDepartment of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium|Flanders Make, Leuven, BelgiumThe BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, ItalyFaculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Robot sensing systems; Shape; Catheters; Robots; Bending; Gratings; Training;

Shape Sensing of Flexible Robots Based on Deep Learning

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