Impact:
The reconfigurability of magnetic tracking systems (MTSs) allows for its application in workspaces of different sizes. For instance, with appropriate configuration adjustments, it can be utilized for tasks such as tongue tracking in the head, tracheal intubation navigation in the neck, and even muscle tracking in the legs and arms. However, the dynamic changes in sensor array configuration, known as deformation, caused by posture changes during long-duration examinations, impose significant challenges on MTSs that heavily rely on magnetometer poses.
Here we propose a real-time self-sensing method based on the sensor array structural model and magnetic dipole model, which simultaneously estimates the magnet pose and the hinge angles on the sensor array. The self-sensing capability opens up a new way for perceiving the morphology of origami robots and measuring the curvature of flexible catheters
Paper: https://lnkd.in/dnmcvusm
Authors: Shijian Su; Xindi Yang; Zhen Li; Hongliang Ren
