FBG-Based Variable-Length Estimation for Shape Sensing of Extensible Soft Robotic Manipulators
Yiang Lu,Wei Chen,Zhi Chen,Jianshu Zhou,Yun–hui Liu,Yiang Lu,Wei Chen,Zhi Chen,Jianshu Zhou,Yun–hui Liu
In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots, while the narrow stretching range of FBG fiber makes it difficult to acquire accurate sensing results for extensible robots. Towards this limitation, we newly i...
