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Shape tracking of a dexterous continuum manipulator

  • US 10,226,304 B2
  • Filed: 12/15/2015
  • Issued: 03/12/2019
  • Est. Priority Date: 12/15/2014
  • Status: Active Grant
First Claim
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1. A shape sensor system, comprising:

  • a deflection sensor comprising an optical fiber having at least one fiber Bragg grating (FBG) written therein and a substrate, said optical fiber being attached to said substrate with a selected bias distance from a neutral plane of said deflection sensor;

    an optical source optically coupled to said optical fiber to provide input light to be at least partially reflected by said FBG to provide output light; and

    an optical detection and processing system arranged to receive at least a portion of said output light and to determine a wavelength shift of at least a portion of said output light resulting from a change of an amount of deflection of said deflection sensor, said optical detection and processing system being further configured to determine a relative amount of deflection of said deflection sensor at said FBG based on said wavelength shift,wherein said selected bias distance is selected based on a predetermined range of deflection angles to be detected, andwherein said substrate is a pair of wires attached to said optical fiber in a triangular configuration as viewed from a cross section thereof.

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