A highly sensitive fiber Bragg Grating shape sensor for continuum manipulators with large deflections

Shahriar Sefati, Michael Pozin, Farshid Alambeigi, Iulian Iordachita, Russell H. Taylor, Mehran Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations


Fiber Bragg Grating (FBG) sensors are proposed for medical applications, especially for shape sensing of continuum manipulators due to their numerous advantages over other types of sensors. In this paper, we design, fabricate, and evaluate a novel FBG sensor assembly addressing challenges associated with integration with continuum manipulators. Experimental results with the new FBG sensor demonstrated detection of small radii of curvatures (20 mm), high sensitivity (up to 8 nm wavelength shift in each direction of bend), and calibration repeatability (RMS error of 92 picometer) leading to a high signal to noise ratio for the proposed easy-to-fabricate sensor.

Original languageEnglish (US)
Title of host publicationIEEE SENSORS 2017 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages3
ISBN (Electronic)9781509010127
StatePublished - Dec 21 2017
Event16th IEEE SENSORS Conference, ICSENS 2017 - Glasgow, United Kingdom
Duration: Oct 30 2017Nov 1 2017

Publication series

NameProceedings of IEEE Sensors
ISSN (Print)1930-0395
ISSN (Electronic)2168-9229


Other16th IEEE SENSORS Conference, ICSENS 2017
Country/TerritoryUnited Kingdom


  • Fiber Bragg Grating
  • continuum manipulator
  • shape sensing

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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