Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators

Jia Han Benjamin Koh; Taegyun Jeong; Sangjin Han; Wanlin Li; Kawal Rhode; Yohan Noh

doi:10.1109/EMBC.2019.8856882

Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators

Jia Han Benjamin Koh, Taegyun Jeong, Sangjin Han, Wanlin Li, Kawal Rhode, Yohan Noh^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

This paper presents a novel two-axis shape sensor based on optical optoelectronic sensors and integrated with a flexible manipulator arm to measure the overall shape of the robotic arm. The disc-shape bio-compatible sensor presented here can be embedded as a sensing system into flexible manipulators and is applicable to the geometry of its structure and to the structure of any other similar multi-segment robotic manipulator. Design and calibration procedures of the device are introduced: experimental results allow defining a sensor matrix for real-time estimation of the pitch and roll of the plate above the sensor and confirms the usefulness of the proposed optical sensing approach.

Original language	English
Title of host publication	2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3199-3203
Number of pages	5
ISBN (Electronic)	9781538613115
DOIs	https://doi.org/10.1109/EMBC.2019.8856882
Publication status	Published - 1 Jul 2019
Event	41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019 - Berlin, Germany Duration: 23 Jul 2019 → 27 Jul 2019

Conference

Conference	41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Country/Territory	Germany
City	Berlin
Period	23/07/2019 → 27/07/2019

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Benjamin Koh, J. H., Jeong, T., Han, S., Li, W., Rhode, K., & Noh, Y. (2019). Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators. In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019 (pp. 3199-3203). Article 8856882 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2019.8856882

@inproceedings{32c79cc2ddfd49d1a574c9b5b8a96e6f,

title = "Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators",

abstract = "This paper presents a novel two-axis shape sensor based on optical optoelectronic sensors and integrated with a flexible manipulator arm to measure the overall shape of the robotic arm. The disc-shape bio-compatible sensor presented here can be embedded as a sensing system into flexible manipulators and is applicable to the geometry of its structure and to the structure of any other similar multi-segment robotic manipulator. Design and calibration procedures of the device are introduced: experimental results allow defining a sensor matrix for real-time estimation of the pitch and roll of the plate above the sensor and confirms the usefulness of the proposed optical sensing approach.",

author = "{Benjamin Koh}, {Jia Han} and Taegyun Jeong and Sangjin Han and Wanlin Li and Kawal Rhode and Yohan Noh",

year = "2019",

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doi = "10.1109/EMBC.2019.8856882",

language = "English",

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booktitle = "2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019 ; Conference date: 23-07-2019 Through 27-07-2019",

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Benjamin Koh, JH, Jeong, T, Han, S, Li, W, Rhode, K & Noh, Y 2019, Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators. in 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019., 8856882, Institute of Electrical and Electronics Engineers Inc., pp. 3199-3203, 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019, Berlin, Germany, 23/07/2019. https://doi.org/10.1109/EMBC.2019.8856882

Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators. / Benjamin Koh, Jia Han; Jeong, Taegyun; Han, Sangjin et al.
2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 3199-3203 8856882.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Noh, Yohan

PY - 2019/7/1

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N2 - This paper presents a novel two-axis shape sensor based on optical optoelectronic sensors and integrated with a flexible manipulator arm to measure the overall shape of the robotic arm. The disc-shape bio-compatible sensor presented here can be embedded as a sensing system into flexible manipulators and is applicable to the geometry of its structure and to the structure of any other similar multi-segment robotic manipulator. Design and calibration procedures of the device are introduced: experimental results allow defining a sensor matrix for real-time estimation of the pitch and roll of the plate above the sensor and confirms the usefulness of the proposed optical sensing approach.

AB - This paper presents a novel two-axis shape sensor based on optical optoelectronic sensors and integrated with a flexible manipulator arm to measure the overall shape of the robotic arm. The disc-shape bio-compatible sensor presented here can be embedded as a sensing system into flexible manipulators and is applicable to the geometry of its structure and to the structure of any other similar multi-segment robotic manipulator. Design and calibration procedures of the device are introduced: experimental results allow defining a sensor matrix for real-time estimation of the pitch and roll of the plate above the sensor and confirms the usefulness of the proposed optical sensing approach.

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Y2 - 23 July 2019 through 27 July 2019

ER -

Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators

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