用激光直接制造柔性机器人形状传感器，误差低于2度。
Shape Sensing of Continuum Robots using Direct Laser Writing
- 用激光直接写入碳化聚合物，一体成型柔性关节与应变传感器。
- 线性与非线性模型预测关节角度，误差低至1.76度。
- 实现闭环控制，跟踪误差小于3度，适合微创手术机器人。
连续体机器人因其固有的柔韧性和灵巧性，为微创和自然腔道手术提供了前景广阔的解决方案。然而，其灵活性也使姿态估计变得困难。已有多种方法用于重建此类机器人的形状，包括成像、光学传感、磁感应和电阻传感。利用直接激光写入（DLW）技术制造的应变传感器可提供一种替代方案。该技术通过激光诱导特定聚合物碳化，形成石墨烯图案，如应变传感器。本文展示了如何使用同一激光设备和同一工艺，将柔性连续关节与DLW传感器一体化制造。所制备的传感器采用线性与非线性模型进行表征，可将关节角度预测误差降至1.76度以下。此外，我们演示了如何利用DLW传感器实现机器人关节的闭环控制，实现跟踪误差低于3度。
原文摘要 · Abstract (English)
Continuum robots offer a promising approach for minimally invasive and natural-orifice surgical procedures due to their inherent compliance and dexterity. However, this flexibility also makes estimating the current shape of the robot challenging. Several approaches have been used to reconstruct the shape of these robots, including imaging, optical sensing, magnetic sensing, and resistive sensing. Strain sensors fabricated using direct laser writing (DLW) could provide an alternative sensing method. This technique involves using a laser to induce carbonization of certain polymers to create graphene patterns, such as strain sensors. In this paper, we demonstrate how a flexible continuum joint and a DLW sensor can be machined as one monolithic structure using the same laser and the same setup. The fabricated sensors are characterized using linear and nonlinear models, which are used to predict the joint angle with error as low as 1.76 degrees. Furthermore, we demonstrate how a DLW sensor can be used to implement closed-loop control in a robotic joint, achieving tracking error under 3 degrees.
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