{"id":"https://openalex.org/W2892230934","doi":"https://doi.org/10.1109/icra.2018.8461090","title":"Distal End Force Sensing with Optical Fiber Bragg Gratings for Tendon-Sheath Mechanisms in Flexible Endoscopic Robots","display_name":"Distal End Force Sensing with Optical Fiber Bragg Gratings for Tendon-Sheath Mechanisms in Flexible Endoscopic Robots","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2892230934","doi":"https://doi.org/10.1109/icra.2018.8461090","mag":"2892230934"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dr.ntu.edu.sg/bitstream/10356/137867/2/US%20Letter%20version%20submited%20as%20final.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050450075","display_name":"Wenjie Lai","orcid":"https://orcid.org/0000-0002-6020-107X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wenjie Lai","raw_affiliation_strings":["Nanyang Technological University, Robotics Research Center School of Mechanical and Aerospace Engineering, Singapore","Robotics Research Center, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Robotics Research Center School of Mechanical and Aerospace Engineering, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Robotics Research Center, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056036428","display_name":"Lin Cao","orcid":"https://orcid.org/0000-0003-4769-775X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lin Cao","raw_affiliation_strings":["Nanyang Technological University, Robotics Research Center School of Mechanical and Aerospace Engineering, Singapore","Robotics Research Center, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Robotics Research Center School of Mechanical and Aerospace Engineering, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Robotics Research Center, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066426100","display_name":"Zhilin Xu","orcid":"https://orcid.org/0000-0003-4974-9947"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhilin Xu","raw_affiliation_strings":["Nanyang Technological University, Center for Optical Fiber Technology School of Electrical and Electronic Engineering, Singapore","Center for Optical Fiber Technology, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Center for Optical Fiber Technology School of Electrical and Electronic Engineering, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Center for Optical Fiber Technology, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048204656","display_name":"Phuoc Thien Phan","orcid":"https://orcid.org/0000-0001-5833-6939"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Phuoc Thien Phan","raw_affiliation_strings":["Nanyang Technological University, Robotics Research Center School of Mechanical and Aerospace Engineering, Singapore","Robotics Research Center, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Robotics Research Center School of Mechanical and Aerospace Engineering, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Robotics Research Center, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078527224","display_name":"Perry Ping Shum","orcid":"https://orcid.org/0000-0003-1391-4736"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ping Shum","raw_affiliation_strings":["Nanyang Technological University, Center for Optical Fiber Technology School of Electrical and Electronic Engineering, Singapore","Center for Optical Fiber Technology, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Center for Optical Fiber Technology School of Electrical and Electronic Engineering, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Center for Optical Fiber Technology, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026351618","display_name":"Soo Jay Phee","orcid":"https://orcid.org/0000-0002-9709-5848"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Soo Jay Phee","raw_affiliation_strings":["Nanyang Technological University, Robotics Research Center School of Mechanical and Aerospace Engineering, Singapore","Robotics Research Center, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Robotics Research Center School of Mechanical and Aerospace Engineering, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Robotics Research Center, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.5644,"has_fulltext":true,"cited_by_count":35,"citation_normalized_percentile":{"value":0.8960097,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5349","last_page":"5355"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13885","display_name":"Geophysics and Sensor Technology","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7164825201034546},{"id":"https://openalex.org/keywords/tendon-sheath","display_name":"Tendon sheath","score":0.6625862121582031},{"id":"https://openalex.org/keywords/fiber-bragg-grating","display_name":"Fiber Bragg grating","score":0.5491617918014526},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5474463701248169},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.5079100728034973},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4963725209236145},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4664233326911926},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.4636557996273041},{"id":"https://openalex.org/keywords/optical-fiber","display_name":"Optical fiber","score":0.45510897040367126},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3502342700958252},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3272749185562134},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2562722861766815},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.25290969014167786},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18589970469474792},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.15886256098747253},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.11161285638809204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10662633180618286}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7164825201034546},{"id":"https://openalex.org/C2776873876","wikidata":"https://www.wikidata.org/wiki/Q447782","display_name":"Tendon sheath","level":3,"score":0.6625862121582031},{"id":"https://openalex.org/C43091971","wikidata":"https://www.wikidata.org/wiki/Q1397391","display_name":"Fiber Bragg grating","level":3,"score":0.5491617918014526},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5474463701248169},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.5079100728034973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4963725209236145},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4664233326911926},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.4636557996273041},{"id":"https://openalex.org/C194232370","wikidata":"https://www.wikidata.org/wiki/Q162","display_name":"Optical fiber","level":2,"score":0.45510897040367126},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3502342700958252},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3272749185562134},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2562722861766815},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25290969014167786},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18589970469474792},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.15886256098747253},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.11161285638809204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10662633180618286},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8461090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/137867","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/137867","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/137867/2/US%20Letter%20version%20submited%20as%20final.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:dr.ntu.edu.sg:10356/137867","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/137867","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/137867/2/US%20Letter%20version%20submited%20as%20final.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7966421587","display_name":null,"funder_award_id":"NRFI2016-07","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2892230934.pdf","grobid_xml":"https://content.openalex.org/works/W2892230934.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1483473261","https://openalex.org/W1952115057","https://openalex.org/W1964258596","https://openalex.org/W1964461287","https://openalex.org/W1974070762","https://openalex.org/W1988273910","https://openalex.org/W1993881120","https://openalex.org/W1999306089","https://openalex.org/W2009180946","https://openalex.org/W2016741124","https://openalex.org/W2019017932","https://openalex.org/W2032941355","https://openalex.org/W2036422881","https://openalex.org/W2078912683","https://openalex.org/W2095661645","https://openalex.org/W2095697008","https://openalex.org/W2096781350","https://openalex.org/W2099745446","https://openalex.org/W2101667962","https://openalex.org/W2112736206","https://openalex.org/W2116787487","https://openalex.org/W2122850646","https://openalex.org/W2124852832","https://openalex.org/W2134162555","https://openalex.org/W2149696528","https://openalex.org/W2151066929","https://openalex.org/W2151420688","https://openalex.org/W2153361386","https://openalex.org/W2159073493","https://openalex.org/W2159349609","https://openalex.org/W2161698442","https://openalex.org/W2523694735","https://openalex.org/W2573702495","https://openalex.org/W4251496070","https://openalex.org/W6628861237","https://openalex.org/W6675046806","https://openalex.org/W6731789640"],"related_works":["https://openalex.org/W2404578850","https://openalex.org/W2473523016","https://openalex.org/W2427926221","https://openalex.org/W2770783682","https://openalex.org/W2339989640","https://openalex.org/W2393596403","https://openalex.org/W1984052302","https://openalex.org/W2365070537","https://openalex.org/W1995474153","https://openalex.org/W124130814"],"abstract_inverted_index":{"Accurate":[0],"haptic":[1,34],"feedback":[2],"is":[3,93],"a":[4,81,160,168,192],"critical":[5],"challenge":[6],"for":[7,11,40,191],"surgical":[8,14,121],"robots,":[9],"especially":[10],"flexible":[12],"endoscopic":[13],"robots":[15],"whose":[16],"transmission":[17],"systems":[18],"are":[19,131],"Tendon-Sheath":[20],"Mechanisms":[21],"(TSMs)":[22],"with":[23,85,105,118,159,167],"highly":[24],"nonlinear":[25],"friction":[26],"profiles":[27],"and":[28,108,120,128,144,165,180,185,203],"force":[29,49,61,69,78,99,140,147,153],"hysteresis.":[30],"For":[31],"distal":[32,55],"end":[33,56],"sensing":[35],"of":[36,162,176,194],"TSMs,":[37],"this":[38,124],"paper,":[39,125],"the":[41,47,51,54,59,63,67,71,97,101,112,135,138,142,145,149,174,177],"first":[42],"time,":[43],"proposes":[44],"to":[45,95,133,172],"measure":[46,96],"compression":[48,68,98,146],"on":[50,62,70,100,141,148],"sheath":[52],"at":[53],"so":[57],"that":[58],"tension":[60,139],"tendon,":[64],"which":[65],"equals":[66],"sheath,":[72,113],"can":[73,114,187],"be":[74,115,189],"obtained.":[75],"A":[76],"new":[77],"sensor,":[79,104],"i.e.,":[80],"nitinol":[82],"tube":[83],"attached":[84],"an":[86],"optical":[87],"Fiber":[88],"Bragg":[89],"Grating":[90],"(FBG)":[91],"fiber,":[92],"proposed":[94,152,178,183],"sheath.":[102,150],"This":[103],"similar":[106],"diameter":[107],"configuration":[109],"(hollow)":[110],"as":[111,198],"compactly":[116],"integrated":[117,166],"TSMs":[119],"end-effectors.":[122],"In":[123],"mechanics":[126],"analysis":[127],"verification":[129],"tests":[130,158],"presented":[132],"reveal":[134],"relationship":[136],"between":[137],"tendon":[143],"The":[151,182],"sensor":[154,186],"was":[155],"calibrated":[156],"in":[157],"sensitivity":[161],"24.28":[163],"pm/N":[164],"tendon-sheath":[169],"driven":[170],"grasper":[171],"demonstrate":[173],"effectiveness":[175],"approach":[179,184],"sensor.":[181],"also":[188],"applied":[190],"variety":[193],"TSMs-driven":[195],"systems,":[196],"such":[197],"robotic":[199],"fingers/hands,":[200],"wearable":[201],"devices,":[202],"rehabilitation":[204],"devices.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":8}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}