{"id":"https://openalex.org/W4413917960","doi":"https://doi.org/10.1109/icra55743.2025.11128662","title":"Learning-Based Tip Contact Force Estimation for FBG-Embedded Continuum Robots","display_name":"Learning-Based Tip Contact Force Estimation for FBG-Embedded Continuum Robots","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917960","doi":"https://doi.org/10.1109/icra55743.2025.11128662"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052201634","display_name":"Majid Roshanfar","orcid":"https://orcid.org/0000-0003-3738-7782"},"institutions":[{"id":"https://openalex.org/I4210141030","display_name":"SickKids Foundation","ror":"https://ror.org/04374qe70","country_code":"CA","type":"funder","lineage":["https://openalex.org/I4210141030"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Majid Roshanfar","raw_affiliation_strings":["The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada"],"affiliations":[{"raw_affiliation_string":"The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada","institution_ids":["https://openalex.org/I4210141030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048296786","display_name":"Pedram Fekri","orcid":"https://orcid.org/0000-0003-1966-8724"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pedram Fekri","raw_affiliation_strings":["Concordia University,Department of Mechanical Engineering,Montreal,Canada"],"affiliations":[{"raw_affiliation_string":"Concordia University,Department of Mechanical Engineering,Montreal,Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102519331","display_name":"Robert H. Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210141030","display_name":"SickKids Foundation","ror":"https://ror.org/04374qe70","country_code":"CA","type":"funder","lineage":["https://openalex.org/I4210141030"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Robert H. Nguyen","raw_affiliation_strings":["The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada"],"affiliations":[{"raw_affiliation_string":"The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada","institution_ids":["https://openalex.org/I4210141030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016113600","display_name":"Changyan He","orcid":"https://orcid.org/0000-0002-2540-3848"},"institutions":[{"id":"https://openalex.org/I78757542","display_name":"University of Newcastle Australia","ror":"https://ror.org/00eae9z71","country_code":"AU","type":"education","lineage":["https://openalex.org/I78757542"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Changyan He","raw_affiliation_strings":["Discipline of Medical Engineering at the University of Newcastle,Australia"],"affiliations":[{"raw_affiliation_string":"Discipline of Medical Engineering at the University of Newcastle,Australia","institution_ids":["https://openalex.org/I78757542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102519330","display_name":"Paul H. Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210141030","display_name":"SickKids Foundation","ror":"https://ror.org/04374qe70","country_code":"CA","type":"funder","lineage":["https://openalex.org/I4210141030"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Paul H. Kang","raw_affiliation_strings":["The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada"],"affiliations":[{"raw_affiliation_string":"The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada","institution_ids":["https://openalex.org/I4210141030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002892990","display_name":"James M. Drake","orcid":"https://orcid.org/0000-0001-6841-9025"},"institutions":[{"id":"https://openalex.org/I4210141030","display_name":"SickKids Foundation","ror":"https://ror.org/04374qe70","country_code":"CA","type":"funder","lineage":["https://openalex.org/I4210141030"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James Drake","raw_affiliation_strings":["The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada"],"affiliations":[{"raw_affiliation_string":"The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada","institution_ids":["https://openalex.org/I4210141030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021398654","display_name":"Eric Diller","orcid":"https://orcid.org/0000-0003-4627-0797"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Eric Diller","raw_affiliation_strings":["Robotics Institute at the University of Toronto,Department of Mechanical and Industrial Engineering, the Department of Biomedical Engineering,Toronto,Canada"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at the University of Toronto,Department of Mechanical and Industrial Engineering, the Department of Biomedical Engineering,Toronto,Canada","institution_ids":["https://openalex.org/I185261750","https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073182314","display_name":"Thomas Looi","orcid":"https://orcid.org/0000-0001-6453-2928"},"institutions":[{"id":"https://openalex.org/I4210141030","display_name":"SickKids Foundation","ror":"https://ror.org/04374qe70","country_code":"CA","type":"funder","lineage":["https://openalex.org/I4210141030"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Thomas Looi","raw_affiliation_strings":["The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada"],"affiliations":[{"raw_affiliation_string":"The Wilfred and Joyce Posluns Centre for Image Guided Innovation &#x0026; Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids),Toronto,Canada","institution_ids":["https://openalex.org/I4210141030"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5052201634"],"corresponding_institution_ids":["https://openalex.org/I4210141030"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35153173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"844","last_page":"850"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9847000241279602,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9805999994277954,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6403947472572327},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5731355547904968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43804675340652466},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32660505175590515},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2768600583076477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26105618476867676},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1874944567680359}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6403947472572327},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5731355547904968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43804675340652466},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32660505175590515},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2768600583076477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26105618476867676},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1874944567680359}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4420108176","display_name":null,"funder_award_id":"452287","funder_id":"https://openalex.org/F4320334506","funder_display_name":"Canadian Institutes of Health Research"}],"funders":[{"id":"https://openalex.org/F4320334506","display_name":"Canadian Institutes of Health Research","ror":"https://ror.org/01gavpb45"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2005284429","https://openalex.org/W2057785338","https://openalex.org/W2104410139","https://openalex.org/W2184993170","https://openalex.org/W2290611374","https://openalex.org/W2544641369","https://openalex.org/W2746515375","https://openalex.org/W2774676248","https://openalex.org/W2934885963","https://openalex.org/W2972160067","https://openalex.org/W2997878984","https://openalex.org/W3005207906","https://openalex.org/W3005940400","https://openalex.org/W3036533099","https://openalex.org/W3096604775","https://openalex.org/W3097556244","https://openalex.org/W3138014265","https://openalex.org/W3149981851","https://openalex.org/W3181781118","https://openalex.org/W3190305371","https://openalex.org/W3191039667","https://openalex.org/W3198825242","https://openalex.org/W3203690155","https://openalex.org/W4200613207","https://openalex.org/W4206232458","https://openalex.org/W4210927443","https://openalex.org/W4210946674","https://openalex.org/W4283701294","https://openalex.org/W4313263346","https://openalex.org/W4313854337","https://openalex.org/W4320496178","https://openalex.org/W4323567663","https://openalex.org/W4379212362","https://openalex.org/W4386597831","https://openalex.org/W4390174820","https://openalex.org/W4391098341","https://openalex.org/W4401113735","https://openalex.org/W4402079519","https://openalex.org/W4405179831"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4404995717","https://openalex.org/W2016187641","https://openalex.org/W4404725684","https://openalex.org/W4413159334","https://openalex.org/W4246450666","https://openalex.org/W4388998267","https://openalex.org/W4409278740"],"abstract_inverted_index":{"Knowledge":[0],"of":[1,59,107,127],"the":[2,23,34,52,57,82,85,91,105,108,149],"tip":[3,35,58,93],"contact":[4,36,54],"force":[5,37,55,94],"in":[6,38,95],"continuum":[7,61],"robots,":[8],"which":[9,141],"are":[10],"often":[11],"used":[12],"as":[13],"medical":[14],"instruments,":[15],"is":[16],"critical":[17],"for":[18,50],"clinical":[19],"applications.":[20],"It":[21],"enhances":[22],"interventionalist's":[24],"decision-making,":[25],"navigation":[26],"efficiency,":[27],"and":[28,66,120,135],"procedural":[29],"safety.":[30],"However,":[31],"accurately":[32],"determining":[33],"conventionally":[39],"sized":[40],"instruments":[41],"remains":[42],"challenging.":[43],"This":[44],"study":[45],"introduces":[46],"a":[47,60,71,143],"learning-based":[48,150],"method":[49,86],"estimating":[51],"external":[53],"at":[56],"robot.":[62],"By":[63],"leveraging":[64],"curvature":[65],"bending":[67],"angle":[68],"data":[69],"from":[70],"multi-core":[72],"fiber":[73,76],"equipped":[74],"with":[75],"Bragg":[77],"gratings":[78],"(FBGs)":[79],"embedded":[80],"inside":[81],"Nitinol":[83,102],"tube,":[84],"maps":[87],"these":[88],"inputs":[89],"to":[90,148],"corresponding":[92],"3D.":[96],"Experiments":[97],"conducted":[98],"on":[99],"an":[100],"FBG-embedded":[101],"rod":[103],"validate":[104],"feasibility":[106],"proposed":[109],"method,":[110],"yielding":[111],"Mean":[112,116,122],"Squared":[113,123],"Error":[114,118,124],"(MSE),":[115],"Absolute":[117],"(MAE),":[119],"Root":[121],"(RMSE)":[125],"values":[126],"20.9":[128],"<tex":[129,136],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[130,137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\left(m":[131],"N^{2}\\right),":[132],"2.7(m":[133],"N)$</tex>,":[134,139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$4.6(m":[138],"respectively,":[140],"represent":[142],"26":[144],"%":[145],"improvement":[146],"compared":[147],"vision":[151],"methodology.":[152]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
