3 papers
cs.RO2026
A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots
Yash Kulkarni, Mobina Tavangarifard, Daniyal Maroufi +4
This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditio…
cs.RO2026
A Learning-Based Approach for Contact Detection, Localization, and Force Estimation of Continuum Manipulators With Integrated OFDR Optical Fiber
Mobina Tavangarifard, Jonathan S. Kacines, Qiyu Li +1
Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. Ho…
cs.RO2024
Single-Fiber Optical Frequency Domain Reflectometry Shape Sensing of Continuum Manipulators with Planar Bending
Mobina Tavangarifard, Wendy Rodriguez Ovalle, Farshid Alambeigi
To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly u…