Matches in SemOpenAlex for { <https://semopenalex.org/work/W2912609531> ?p ?o ?g. }
Showing items 1 to 100 of
100
with 100 items per page.
- W2912609531 endingPage "1430" @default.
- W2912609531 startingPage "1424" @default.
- W2912609531 abstract "We present a modular sensing system to measure the deflection of a minimally invasive neurosurgical intracranial robot (MINIR): MINIR-II. The MINIR-II robot is a tendon-driven continuum robot comprised of multiple spring backbone segments, which has been developed in our prior work. Due to the flexibility of the spring backbone and unique tendon routing configuration, each segment of MINIR-II can bend up to a large curvature ( <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><tex-math notation=LaTeX>$geq$</tex-math></inline-formula> 100 m <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><inline-formula><tex-math notation=LaTeX>$-$</tex-math></inline-formula>1</sup> ) in multiple directions. However, the shape measurement of the robot based on tendon displacement is not precise due to friction and unknown external load/disturbance. In this regard, we propose a bending sensor module comprised of a fiber Bragg grating (FBG) fiber, a Polydimethylsiloxane (PDMS) cylinder, and a superelastic spring. The grating segment of the FBG fiber is enclosed inside a PDMS cylinder (1 mm in diameter), and the PDMS cylinder is bonded with the superelastic spring in series. The deflection or bending of the robot backbone segment is translated into an axial loading in the superelastic spring, which applies tension to the FBG; therefore, by measuring the peak wavelength shift of the FBG, the bending angle can be estimated. This letter describes the design, fabrication, and kinematic aspects of the sensor module in detail. To evaluate the proposed concept, one such sensor module has been tested and evaluated on the MINIR-II robot." @default.
- W2912609531 created "2019-02-21" @default.
- W2912609531 creator A5030737748 @default.
- W2912609531 creator A5047893446 @default.
- W2912609531 creator A5068796096 @default.
- W2912609531 creator A5072251844 @default.
- W2912609531 creator A5086900998 @default.
- W2912609531 date "2019-04-01" @default.
- W2912609531 modified "2023-10-12" @default.
- W2912609531 title "Modular FBG Bending Sensor for Continuum Neurosurgical Robot" @default.
- W2912609531 cites W1567569284 @default.
- W2912609531 cites W1975996811 @default.
- W2912609531 cites W1981454728 @default.
- W2912609531 cites W2013681472 @default.
- W2912609531 cites W2037290941 @default.
- W2912609531 cites W2078673422 @default.
- W2912609531 cites W2083714908 @default.
- W2912609531 cites W2099745446 @default.
- W2912609531 cites W2129123150 @default.
- W2912609531 cites W2131867559 @default.
- W2912609531 cites W2147404381 @default.
- W2912609531 cites W2167287337 @default.
- W2912609531 cites W2295380675 @default.
- W2912609531 cites W2544641369 @default.
- W2912609531 cites W2740405518 @default.
- W2912609531 doi "https://doi.org/10.1109/lra.2019.2896451" @default.
- W2912609531 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/6636636" @default.
- W2912609531 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/31317067" @default.
- W2912609531 hasPublicationYear "2019" @default.
- W2912609531 type Work @default.
- W2912609531 sameAs 2912609531 @default.
- W2912609531 citedByCount "25" @default.
- W2912609531 countsByYear W29126095312019 @default.
- W2912609531 countsByYear W29126095312020 @default.
- W2912609531 countsByYear W29126095312021 @default.
- W2912609531 countsByYear W29126095312022 @default.
- W2912609531 countsByYear W29126095312023 @default.
- W2912609531 crossrefType "journal-article" @default.
- W2912609531 hasAuthorship W2912609531A5030737748 @default.
- W2912609531 hasAuthorship W2912609531A5047893446 @default.
- W2912609531 hasAuthorship W2912609531A5068796096 @default.
- W2912609531 hasAuthorship W2912609531A5072251844 @default.
- W2912609531 hasAuthorship W2912609531A5086900998 @default.
- W2912609531 hasBestOaLocation W29126095312 @default.
- W2912609531 hasConcept C101468663 @default.
- W2912609531 hasConcept C120665830 @default.
- W2912609531 hasConcept C121332964 @default.
- W2912609531 hasConcept C141071460 @default.
- W2912609531 hasConcept C154945302 @default.
- W2912609531 hasConcept C192562407 @default.
- W2912609531 hasConcept C195065555 @default.
- W2912609531 hasConcept C199360897 @default.
- W2912609531 hasConcept C24890656 @default.
- W2912609531 hasConcept C2524010 @default.
- W2912609531 hasConcept C2781355719 @default.
- W2912609531 hasConcept C33923547 @default.
- W2912609531 hasConcept C41008148 @default.
- W2912609531 hasConcept C71924100 @default.
- W2912609531 hasConcept C77461463 @default.
- W2912609531 hasConcept C90509273 @default.
- W2912609531 hasConceptScore W2912609531C101468663 @default.
- W2912609531 hasConceptScore W2912609531C120665830 @default.
- W2912609531 hasConceptScore W2912609531C121332964 @default.
- W2912609531 hasConceptScore W2912609531C141071460 @default.
- W2912609531 hasConceptScore W2912609531C154945302 @default.
- W2912609531 hasConceptScore W2912609531C192562407 @default.
- W2912609531 hasConceptScore W2912609531C195065555 @default.
- W2912609531 hasConceptScore W2912609531C199360897 @default.
- W2912609531 hasConceptScore W2912609531C24890656 @default.
- W2912609531 hasConceptScore W2912609531C2524010 @default.
- W2912609531 hasConceptScore W2912609531C2781355719 @default.
- W2912609531 hasConceptScore W2912609531C33923547 @default.
- W2912609531 hasConceptScore W2912609531C41008148 @default.
- W2912609531 hasConceptScore W2912609531C71924100 @default.
- W2912609531 hasConceptScore W2912609531C77461463 @default.
- W2912609531 hasConceptScore W2912609531C90509273 @default.
- W2912609531 hasIssue "2" @default.
- W2912609531 hasLocation W29126095311 @default.
- W2912609531 hasLocation W29126095312 @default.
- W2912609531 hasLocation W29126095313 @default.
- W2912609531 hasLocation W29126095314 @default.
- W2912609531 hasOpenAccess W2912609531 @default.
- W2912609531 hasPrimaryLocation W29126095311 @default.
- W2912609531 hasRelatedWork W2030178872 @default.
- W2912609531 hasRelatedWork W2088988140 @default.
- W2912609531 hasRelatedWork W2378076731 @default.
- W2912609531 hasRelatedWork W2394379345 @default.
- W2912609531 hasRelatedWork W2803103875 @default.
- W2912609531 hasRelatedWork W2951529875 @default.
- W2912609531 hasRelatedWork W3210795196 @default.
- W2912609531 hasRelatedWork W4286888643 @default.
- W2912609531 hasRelatedWork W55883722 @default.
- W2912609531 hasRelatedWork W623713863 @default.
- W2912609531 hasVolume "4" @default.
- W2912609531 isParatext "false" @default.
- W2912609531 isRetracted "false" @default.
- W2912609531 magId "2912609531" @default.
- W2912609531 workType "article" @default.