植入光纤光栅的软体驱动器形状传感研究
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摘要
软体机器人由于具有柔顺性和适应性等特点,在外科手术和狭窄空间等方面具有无可比拟的优势,为了实现微创手术等狭小空间中软体驱动器的姿态传感监测,提出基于植入式光纤光栅的柔性传感方法,首先将光纤布拉格光栅(FBG)植入在软体驱动器中;然后在软体驱动器的不同弯曲状态下,通过实验测试分析FBG点的光谱、波长漂移量和曲率等信息,利用3次样条插值等算法实现软体驱动器的三维形状拟合重构。实验结果表明,驱动器实际弯曲角度和重构算法之间的误差不足4.5%,传感器重复性的偏差指数不足7%。所提出的基于植入式光纤光栅的柔性传感方法可以实现软体机器人的姿态传感监测,在医疗外科手术领域具有广阔的应用前景。
Soft robot has the incomparable advantage in surgery and narrow space due to its flexibility, adaptation, etc. To realize the attitude sensing monitoring of soft actuator in small space(e.g., minimally invasive surgery), a flexible sensing method based on the implantable fiber Bragg grating(FBG) is proposed in this study. First, the FBG is implanted into the soft actuator. Then, under different bending states of soft actuator, the spectral, wavelength drift and curvature information of FBG are analyzed by experimental test. Three-dimensional shape fitting and reconstruction of soft actuator are realized by cubic spline interpolation algorithm. Experimental results show that the error between the actuator′s actual bending angle and the reconstruction algorithm is less than 4.5%. The repeatability deviation index of sensor is less than 7%. The flexible sensing method based on implantable FBG can realize the attitude sensing and monitoring of soft robot, which has a broad application prospect in the field of medical surgery.
Soft robot has the incomparable advantage in surgery and narrow space due to its flexibility, adaptation, etc. To realize the attitude sensing monitoring of soft actuator in small space(e.g., minimally invasive surgery), a flexible sensing method based on the implantable fiber Bragg grating(FBG) is proposed in this study. First, the FBG is implanted into the soft actuator. Then, under different bending states of soft actuator, the spectral, wavelength drift and curvature information of FBG are analyzed by experimental test. Three-dimensional shape fitting and reconstruction of soft actuator are realized by cubic spline interpolation algorithm. Experimental results show that the error between the actuator′s actual bending angle and the reconstruction algorithm is less than 4.5%. The repeatability deviation index of sensor is less than 7%. The flexible sensing method based on implantable FBG can realize the attitude sensing and monitoring of soft robot, which has a broad application prospect in the field of medical surgery.
引文
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[14] 郭雪培,侯晓娟,杨玉华,等. 基于PVDF-TrFE薄膜的柔性自供电传感器[J]. 仪器仪表学报, 2018, 39(7):43- 48.GUO X P, HOU X J, YANG Y H, et al. Flexible self-powered sensor based on PVDF-TrFE film [J]. Chinese Journal of Scientific Instrument, 2018, 39(7): 43- 48.
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[17] 焦浩然,施斌,魏广庆,等.基于BOFDA的感测光纤温度系数影响因素研究[J].电子测量与仪器学报,2018,32(1): 73- 80.JIAO H R, SHI B, WEI G Q, et al. Study on influence factors of temperature coefficient of sensing optical fiber based on BOFDA [J]. Journal of Electronic Measurement and Instrumentation, 2018, 32(1): 73- 80.
[18] 张俊康,孙广开,李红,等.变形机翼薄膜蒙皮形状监测光纤传感方法研究[J].仪器仪表学报, 2018, 39(1):87-92.ZHANG J K, SUN G K, LI H, et al. Optical fiber shape sensing of polyimide skin for flexible morphing wing [J]. Chinese Journal of Scientific Instrument, 2018, 39(1): 87-92.
[19] 雷登明,陈娜,庞拂飞,等.基于FBG传感器的光伏电站箱变设备的温度检测[J].电子测量技术,2017,40(9):234- 237.LEI D M, CHEN N, PANG F F, et al. Temperature monitoring for cubicle-type substations equipment of photovoltaic power station based on FBG sensors [J]. Electronic measurement Technology, 2017, 40(9): 234- 237.
[20] SILVA A S, CATARINO A, CORREIA M V, et al. Design and characterization of a wearable macrobending fiber optic sensor for human joint angle determination [J]. Optical Engineering, 2013, 52(12): 992-999.
[21] SAREH S, NOH Y, LI M, et al. Macrobend optical sensing for pose measurement in soft robot arms [J]. Smart Materials & Structures, 2015, 24(12): 125024.
[22] 曲道明,孙广开,李红,等.变形机翼柔性蒙皮形状光纤传感及重构方法[J].仪器仪表学报, 2018, 39(1):144-151.QU D M, SUN G K, LI H, et al. Optical fiber sensing and reconstruction method for morphing wing flexible skin shape [J]. Chinese Journal of Scientific Instrument, 2018, 39(1): 144-151.
[23] 黄建明,张明达. 光纤光栅应变传感器温度补偿[J].国外电子测量技术, 2017, 36(5):74-77.HUANG J M, ZHANG M D. Temperature compensation of fiber bragg grating strain sensors [J]. Foreign Electronic Measurement Technology, 2017, 36(5): 74-77.
[24] 肖海,章亚男,沈林勇,等.光纤光栅曲线重建算法中的曲率连续化研究[J].仪器仪表学报, 2016, 37(5):993-999.XIAO H, ZHANG Y N, SHEN L Y, et al. Research on curvature serialization in the curve reconstruction algorithm based on fiber Bragg gratings [J]. Chinese Journal of Scientific Instrument, 2016, 37(5): 993-999.
[25] HE Y L, ZHU L Q, SUN G K, et al. Design, measurement and shape reconstruction of soft surgical actuator based on fiber bragg gratings [J]. Applied Sciences, 2018, 8(10): 1773
[26] 费燕琼,庞武,于文博.气压驱动软体机器人运动研究[J].机械工程学报, 2017, 53(13):14-18.FEI Y Q, PANG W, YU W B. Movement of air-driven soft robot [J]. Journal of Mechanical Engineering, 2017, 53(13): 14-18.
[2] 郑悦,景晓蓓,李光林.人机智能协同在医疗康复机器人领域的应用[J].仪器仪表学报, 2017,38(10):2373- 2380.ZHENG Y, JING X B, LI G L. Application of human-machine intelligence synergy in the field of medical and rehabilitation robot [J]. Chinese Journal of Scientific Instrument, 2017, 38(10): 2373- 2380.
[3] PAYNE C J, WAMALA I, BAUTISTA-SALINAS D, et al. Soft robotic ventricular assist device with septal bracing for therapy of heart failure [J]. Science Robotics, 2017, 2(12): 1-11.
[4] 倪自强,王田苗,刘达.医疗机器人技术发展综述[J].机械工程学报, 2015,51 (13):45- 52.NI Z Q, WANG T M, LIU D. Survey on medical robotics [J]. Journal of Mechanical Engineering, 2015,51 (13): 45- 52.
[5] LASCHI C, MAZZOLAI B, CIANCHETTI M. Soft robotics: Technologies and systems pushing the boundaries of robot abilities [J]. Science Robotics, 2016, 1(1): 1-11.
[6] ROBERTSON M A, PAIK J. New soft robots really suck: Vacuum-powered systems empower diverse capabilities [J]. Science Robotics, 2017, 2(9): 1-11.
[7] 高炳微,王思凯,高元锋.液压四足机器人单腿竖直跳跃步态规划[J].仪器仪表学报, 2017, 38(5):1086-1092.GAO B W, WANG S K, GAO Y F. Single leg vertical hopping gait planning for hydraulic quadruped robot [J]. Chinese Journal of Scientific Instrument, 2017, 38(5): 1086-1092.
[8] ZHAO H, JALVING J, HUANG R, et al. A helping hand: Soft orthosis with integrated optical strain sensors and EMG control [J]. IEEE Robotics & Automation Magazine, 2016, 23(3): 55- 64.
[9] NOH Y, SAREH S, BACK J, et al. A three-axial body force sensor for flexible manipulators [C]. IEEE International Conference on Robotics and Automation, 2016, 16(6): 1641-1651.
[10] MOSADEGH B, POLYGERINOS P, KEPLINGER C, et al. Pneumatic networks for soft robotics that actuate rapidly [J]. Advanced Functional Materials,2014, 24(15): 2109- 2109.
[11] POLYGERINOS P, WANG Z, OVERVELDE J T B, et al. Modeling of soft fiber-reinforced bending actuators [J]. IEEE Transactions on Robotics, 2015, 31(3): 778-789.
[12] 王华,康荣杰,王兴坚,等.软体弯曲驱动器设计与建模[J].北京航空航天大学学报, 2017, 43(5):1053-1060.WANG H, KANG R J, WANG X J, et al. Design and modeling of a soft bending actuator [J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(5): 1053-1060.
[13] RUS D, TOLLEY M T. Design, fabrication and control of soft robots [J]. Nature, 2015, 521(7553): 467-75.
[14] 郭雪培,侯晓娟,杨玉华,等. 基于PVDF-TrFE薄膜的柔性自供电传感器[J]. 仪器仪表学报, 2018, 39(7):43- 48.GUO X P, HOU X J, YANG Y H, et al. Flexible self-powered sensor based on PVDF-TrFE film [J]. Chinese Journal of Scientific Instrument, 2018, 39(7): 43- 48.
[15] 王田苗,郝雨飞,杨兴帮,等.软体机器人:结构、驱动、传感与控制[J].机械工程学报, 2017, 53(13):1-13.WANG T M, HAO Y F, YANG X B, et al. Soft robotics: Structure, actuation, sensing and control [J]. Journal of Mechanical Engineering, 2017, 53(13): 1-13.
[16] 郭士杰,肖杰,刘今越,等.电容阵列柔性压力传感器设计与分析[J]. 仪器仪表学报, 2018, 39(7):49- 55.GUO S J, XIAO J, LIU J Y, et al. Capacitor array flexible pressure sensor design and analysis [J]. Chinese Journal of Scientific Instrument, 2018, 39(7): 49- 55.
[17] 焦浩然,施斌,魏广庆,等.基于BOFDA的感测光纤温度系数影响因素研究[J].电子测量与仪器学报,2018,32(1): 73- 80.JIAO H R, SHI B, WEI G Q, et al. Study on influence factors of temperature coefficient of sensing optical fiber based on BOFDA [J]. Journal of Electronic Measurement and Instrumentation, 2018, 32(1): 73- 80.
[18] 张俊康,孙广开,李红,等.变形机翼薄膜蒙皮形状监测光纤传感方法研究[J].仪器仪表学报, 2018, 39(1):87-92.ZHANG J K, SUN G K, LI H, et al. Optical fiber shape sensing of polyimide skin for flexible morphing wing [J]. Chinese Journal of Scientific Instrument, 2018, 39(1): 87-92.
[19] 雷登明,陈娜,庞拂飞,等.基于FBG传感器的光伏电站箱变设备的温度检测[J].电子测量技术,2017,40(9):234- 237.LEI D M, CHEN N, PANG F F, et al. Temperature monitoring for cubicle-type substations equipment of photovoltaic power station based on FBG sensors [J]. Electronic measurement Technology, 2017, 40(9): 234- 237.
[20] SILVA A S, CATARINO A, CORREIA M V, et al. Design and characterization of a wearable macrobending fiber optic sensor for human joint angle determination [J]. Optical Engineering, 2013, 52(12): 992-999.
[21] SAREH S, NOH Y, LI M, et al. Macrobend optical sensing for pose measurement in soft robot arms [J]. Smart Materials & Structures, 2015, 24(12): 125024.
[22] 曲道明,孙广开,李红,等.变形机翼柔性蒙皮形状光纤传感及重构方法[J].仪器仪表学报, 2018, 39(1):144-151.QU D M, SUN G K, LI H, et al. Optical fiber sensing and reconstruction method for morphing wing flexible skin shape [J]. Chinese Journal of Scientific Instrument, 2018, 39(1): 144-151.
[23] 黄建明,张明达. 光纤光栅应变传感器温度补偿[J].国外电子测量技术, 2017, 36(5):74-77.HUANG J M, ZHANG M D. Temperature compensation of fiber bragg grating strain sensors [J]. Foreign Electronic Measurement Technology, 2017, 36(5): 74-77.
[24] 肖海,章亚男,沈林勇,等.光纤光栅曲线重建算法中的曲率连续化研究[J].仪器仪表学报, 2016, 37(5):993-999.XIAO H, ZHANG Y N, SHEN L Y, et al. Research on curvature serialization in the curve reconstruction algorithm based on fiber Bragg gratings [J]. Chinese Journal of Scientific Instrument, 2016, 37(5): 993-999.
[25] HE Y L, ZHU L Q, SUN G K, et al. Design, measurement and shape reconstruction of soft surgical actuator based on fiber bragg gratings [J]. Applied Sciences, 2018, 8(10): 1773
[26] 费燕琼,庞武,于文博.气压驱动软体机器人运动研究[J].机械工程学报, 2017, 53(13):14-18.FEI Y Q, PANG W, YU W B. Movement of air-driven soft robot [J]. Journal of Mechanical Engineering, 2017, 53(13): 14-18.