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 utilizing solely a single Optical Frequency Domain Reflectometry (OFDR) fiber attached to a flat nitinol wire (NiTi). Integrating this easy-to-manufacture unique sensor with a long and soft CM with 170 mm length, we performed different experiments to evaluate its shape reconstruction ability. Results demonstrate phenomenal shape reconstruction accuracy for both C-shape (< 2 mm tip error, < 1.2 mm shape error) and J-shape (< 3.4 mm tip error, < 2.3 mm shape error) experiments.

翻译：针对使用光纤布拉格光栅（FBG）光纤进行连续体机械臂（CM）形状感知所面临的挑战，本文提出了一种独特的形状传感组件，该组件仅采用单根光频域反射计（OFDR）光纤附着于扁平镍钛诺（NiTi）丝上。将此易于制造的独特传感器与长度为170毫米的长柔性CM集成后，我们进行了多项实验以评估其形状重建能力。实验结果表明，在C形（末端误差<2毫米，形状误差<1.2毫米）和J形（末端误差<3.4毫米，形状误差<2.3毫米）弯曲实验中，该系统均展现出卓越的形状重建精度。