{"id":"https://openalex.org/W4362683614","doi":"https://doi.org/10.1109/tim.2023.3265099","title":"Design of a Modular 3-D Force Sensor With Fiber Bragg Gratings for Continuum Surgical Robot","display_name":"Design of a Modular 3-D Force Sensor With Fiber Bragg Gratings for Continuum Surgical Robot","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4362683614","doi":"https://doi.org/10.1109/tim.2023.3265099"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3265099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3265099","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-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/A5100769719","display_name":"Haodong Wang","orcid":"https://orcid.org/0000-0002-4460-7758"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Haodong Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-4460-7758","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091883161","display_name":"Zhijiang Du","orcid":"https://orcid.org/0000-0003-3044-9733"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijiang Du","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-3044-9733","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068063801","display_name":"Leyang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Leyang Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-8080-3158","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062724650","display_name":"Yuxin Zhang","orcid":"https://orcid.org/0000-0001-7643-6474"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxin Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7643-6474","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101706079","display_name":"Wang Xiang-rong","orcid":"https://orcid.org/0000-0003-0617-934X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangrong Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-0617-934X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084534686","display_name":"Yongzhuo Gao","orcid":"https://orcid.org/0000-0002-1267-4550"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongzhuo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1267-4550","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK","SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Queenstown, Singapore","Department of Electronic Engineering, Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-6488-1551","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Queenstown, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2025,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.75200608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9936000108718872,"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"}},{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9797999858856201,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/modular-design","display_name":"Modular design","score":0.5709000825881958},{"id":"https://openalex.org/keywords/fiber-bragg-grating","display_name":"Fiber Bragg grating","score":0.5298609137535095},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5211053490638733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5157902240753174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4587351381778717},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4553949236869812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4192812740802765},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3440815508365631},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33521825075149536},{"id":"https://openalex.org/keywords/optical-fiber","display_name":"Optical fiber","score":0.2997685968875885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.228156179189682},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.22803711891174316},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.11673006415367126}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5709000825881958},{"id":"https://openalex.org/C43091971","wikidata":"https://www.wikidata.org/wiki/Q1397391","display_name":"Fiber Bragg grating","level":3,"score":0.5298609137535095},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5211053490638733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5157902240753174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4587351381778717},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4553949236869812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4192812740802765},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3440815508365631},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33521825075149536},{"id":"https://openalex.org/C194232370","wikidata":"https://www.wikidata.org/wiki/Q162","display_name":"Optical fiber","level":2,"score":0.2997685968875885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.228156179189682},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.22803711891174316},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.11673006415367126},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3265099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3265099","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2338079567","display_name":null,"funder_award_id":"62103117","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2851482826","display_name":null,"funder_award_id":"202106120121","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G4008206038","display_name":null,"funder_award_id":"92048204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G441367566","display_name":null,"funder_award_id":"2021M701003","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5912510792","display_name":null,"funder_award_id":"GRF 14216022","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320321592","display_name":"Research Grants Council, University Grants Committee","ror":"https://ror.org/00djwmt25"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1483473261","https://openalex.org/W1610082327","https://openalex.org/W1644188304","https://openalex.org/W1977176825","https://openalex.org/W2046888653","https://openalex.org/W2087993254","https://openalex.org/W2111551460","https://openalex.org/W2122748217","https://openalex.org/W2130349647","https://openalex.org/W2329035258","https://openalex.org/W2527408187","https://openalex.org/W2567653866","https://openalex.org/W2787667999","https://openalex.org/W2792735655","https://openalex.org/W2811346271","https://openalex.org/W2889068233","https://openalex.org/W2935692098","https://openalex.org/W2988454930","https://openalex.org/W3013700964","https://openalex.org/W3023387549","https://openalex.org/W3034090360","https://openalex.org/W3048426717","https://openalex.org/W3126399584","https://openalex.org/W3152558908","https://openalex.org/W3193297763","https://openalex.org/W4285310590","https://openalex.org/W4317038623"],"related_works":["https://openalex.org/W3216900447","https://openalex.org/W2377366345","https://openalex.org/W2096440838","https://openalex.org/W2994331714","https://openalex.org/W2793862890","https://openalex.org/W2005876584","https://openalex.org/W2394125011","https://openalex.org/W4313561376","https://openalex.org/W2354532673","https://openalex.org/W3015461243"],"abstract_inverted_index":{"An":[0],"instrument":[1,23],"usually":[2],"is":[3,42,59,98,113],"installed":[4],"at":[5],"the":[6,22,28,32,39,86,90,102,106,116,128,153],"distal":[7],"end":[8],"of":[9,21,31,38,64,93,105,135],"a":[10,50,71,133],"continuum":[11,33,40],"surgical":[12],"robot":[13,41],"to":[14,25,85,89,100],"perform":[15],"specific":[16],"tasks.":[17],"The":[18],"driving":[19,103],"wire":[20,104],"needs":[24],"pass":[26],"through":[27,115],"central":[29,96],"channel":[30,97],"robot.":[34],"And":[35],"force":[36,57,67,73,110,161],"perception":[37],"often":[43],"lacking.":[44],"Based":[45],"on":[46],"this":[47],"application":[48],"background,":[49],"novel":[51,91,109],"Fiber":[52],"Bragg":[53],"Gratings":[54],"(FBG)-based":[55],"3-D":[56,160],"sensor":[58,62,130,156],"proposed.":[60],"This":[61],"consists":[63],"an":[65],"axial":[66],"perceptive":[68,74,111],"zone":[69],"and":[70,120,140,147],"radial":[72],"zone.":[75],"Four":[76],"optical":[77],"fibers":[78],"with":[79],"dual":[80],"FBG":[81,155],"nodes":[82],"are":[83],"arranged":[84],"sensor.":[87],"Thanks":[88],"arrangement":[92],"FBGs,":[94],"one":[95],"retained":[99],"arrange":[101],"instrument.":[107],"A":[108],"model":[112],"established":[114],"temperature":[117,148],"decoupling":[118,149],"algorithms":[119,150],"Bernoulli-Euler":[121],"beam":[122],"theory.":[123],"Calibration":[124],"experiments":[125],"show":[126,151],"that":[127,152],"proposed":[129,154],"can":[131,157],"achieve":[132],"resolution":[134],"1.9":[136],"mN,":[137,139],"2.4":[138],"9.8":[141],"mN":[142],"forFx,FyandFz,":[143],"respectively.":[144],"Dynamic":[145],"performance":[146],"accurately":[158],"realize":[159],"perception.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}