A soft miniaturized continuum robot with 3D shape sensing via functionalized soft optical waveguides
Viola Del Bono,Max McCandless,Frank Julia Wise,Sheila Russo,Viola Del Bono,Max McCandless,Frank Julia Wise,Sheila Russo
In this paper, we present a fully soft miniaturized continuum robot that integrates 3D optical shape sensing through functionalized tubing used as soft optical waveguides. The sensor is fabricated by laser patterning an off-the-shelf medical tubing, allowing for bidirectional responses to large curvatures in two bending directions, enabling 3D shape sensing and tip tracking of the continuum robot....
