Spatially continuous six degree of freedom position and orientation sensor

Abstract

This paper describes SHAPE TAPE , a thin array of fiber optic curvature sensors laminated on a ribbon substrate, TM arranged to sense bend and twist. The resulting signals are used to build a three dimensional computer model containing six degree of freedom position and orientation information for any location along the ribbon. The tape can be used to derive dynamic or static shape information from objects to which it is attached or scanned over. This is particularly useful where attachment is only partial, since shape tape "knows where it is" relative to a starting location. Measurements can be performed where cameras cannot see, without the use of magnetic fields. Applications include simulation, film animation, computer aided design, robotics, biomechanics, and crash testing.

Arbitrary real-time three-dimensional corporal object sensing and reconstruction scheme

“…© 2012 Optical Society of America OCIS codes: 060.2370, 060.3735, 120.4820, 110.6880, 280.4788. One of the main goals driving forward the research and development of fiber-optic sensing systems is their application in the field of structural health monitoring [1,2] and shape sensing [3,4]. There are several applications for shape-sensing, such as spatial awareness and control of robots in hazardous conditions (e.g., deep-water semisubmersible drilling platform and subsea production systems) [5,6] or profiling minimally invasive (keyhole) surgery [7], to name a few.…”

“…Other sensing systems include fiber-optic loop sensors based on bend-induced loss; this technique is used in the commercially available system called ShapeTape [2] with others based upon distributed sensing, such as intrinsic Rayleigh backscattering employing optical frequency domain reflectometry [8]. Alternative approaches to shape sensing include employing camera systems using complex, shape-sensing recognition algorithms [9].…”

Respiratory function monitoring using a real-time three-dimensional fiber-optic shaping sensing scheme based upon fiber Bragg gratings

“…Alternative shapesensing systems include fiberoptic loop sensors based on bend-induced losses, such as the commercially available system called ShapeTape. 2 While the data acquisition for this technique is high (110 Hz), there are limitations on the curvatures that this system can deal with. Other systems are based upon distributed sensing, such as intrinsic Rayleigh backscattering employing an optical frequency domain reflectometry (OFDR) interrogation technique; 5 this system yields the shape of a linear structure but not of an object and hence cannot be used to recover volume.…”

“…[1][2][3][4] One motivation for this research and development is its application in robotics for spatial awareness and control in hazardous conditions such as subsea manipulation, industrial inspection, and assisting medical applications, such as minimally invasive surgery.…”

“…Alternative approaches to shape sensing employ camera systems using complex shape-sensing recognition algorithms. 2,6 These camera-based systems are very much laboratory-based systems and the user needs a high level of training to operate such system. Long period grating (LPG) fiber sensors have been proposed for shape-sensing applications.…”