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. Author manuscript; available in PMC: 2014 Nov 5.
Published in final edited form as: IEEE Int Conf Robot Autom. 2014 May-June;2014:1411–1418. doi: 10.1109/ICRA.2014.6907037

Fig. 2.

Fig. 2

Dimension of the multi-function force sensing instrument (a). The section view of the tool shaft with the FBG sensors (b). The geometry related to tool calibration (c). The dimension of a single fiber with three FBG sensors (d). The center Bragg wavelengths of FBG-I, FBG-II, and FBG-III are 1529 nm, 1545 nm, and 1553 nm, respectively.