Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber

Abstract

Dense arrays of Draw Tower Gratings (DTG®s) have been produced in 7 core multicore fiber. They are measured with a standard spectrometer based readout system using Wavelength Division Multiplexing. We demonstrate that these sensor arrays can be used for curvature and shape sensing in continuum robotics and the accuracy for the measurement of both parameters will be presented.