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FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches
Shahriar Sefati, Rachel Hegeman, Farshid Alambeigi +2
Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the curvature at discrete FBG active areas and integrating curvature over the length of the co…
FBG-Based Control of a Continuum Manipulator Interacting With Obstacles
Shahriar Sefati, Ryan Murphy, Farshid Alambeigi +4
Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown…
On The Effect of Vibration on Shape Sensing of Continuum Manipulators Using Fiber Bragg Gratings
Shahriar Sefati, Farshid Alambeigi, Iulian Iordachita +2
Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied…
A Convex Optimization Framework for Constrained Concurrent Motion Control of a Hybrid Redundant Surgical System
Farshid Alambeigi, Shahriar Sefati, Mehran Armand
We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinemati…