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Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control…
In this paper, we report the model and the experimental demonstration of a new optical resonator formed by inserting a Fiber Bragg Grating (FBG) in a closed fiber loop. The spectral characteristics of the ring depend on the reflectivity of…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Proptosis is characterized by a protrusion of the eyeball due to an increase of the orbital tissue volume. To recover a normal eyeball positioning, the most frequent surgical technique (BROD technique) consists in the osteotomy of orbital…
One of the goals of computer-aided surgery is to match intraoperative data to preoperative images of the anatomy and add complementary information that can facilitate the task of surgical navigation. In this context, mechanical palpation…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
We propose a new technique, the use of FBGs (fiber Bragg gratings), for accurate, easy and low cost wavelength calibration of GAIA, RAVE and follow-ups spectra at local Observatories. FBGs mark the spectra with absorption lines, freely…
In recent years there has been considerable interest in developing photonic temperature sensors such as the Fiber Bragg gratings (FBG) as an alternative to resistance thermometry. In this study we examine the thermal response of FBGs over…
In this work we report a novel technique for simultaneous high-speed and high-resolution interrogation of fiber Bragg grating (FBG) sensors. The method uses the wavelength-to-time mapping effect in a chromatic dispersive medium and a couple…
Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is typically not available in practical settings and must be…
In recent years there has been considerable interest in using photonic thermometers such as Fiber Bragg grating (FBG) and silicon ring resonators as an alternative technology to resistance-based legacy thermometers. Although FBG…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Machine learning models trained with structural health monitoring data have become a powerful tool for system identification. This paper presents a physics-informed Gaussian process (GP) model for Timoshenko beam elements. The model is…
Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands…
In the past few decades, fibre Bragg grating (FBG) sensors have gained a lot of attention in the field of distributed point strain measurement. One of the most interesting properties of these sensors is the presumed linear relationship…
Tactile sensors have been used for force estimation in the past, especially Vision-Based Tactile Sensors (VBTS) have recently become a new trend due to their high spatial resolution and low cost. In this work, we have designed and…
We present a structural health monitoring system for nondestructive testing of composite materials based on the fiber Bragg grating sensors and specialized software solution. The developed structural monitoring system has potential…
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design…
Flexible needle insertion procedures are common for minimally-invasive surgeries for diagnosing and treating prostate cancer. Bevel-tip needles provide physicians the capability to steer the needle during long insertions to avoid vital…
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…