Electromagnetic shape sensor integrated with wire-driven robot

1 . A wire-driven continuous body robot with which a magnetic field shape sensor is integrated, the wire-driven continuous body robot comprising:

a tube extending in one direction;

a plurality of wires configured to steer the tube; and

a body comprising a plurality of disks connected to one another in series and connected to be rotatable in two directions by joints having perpendicular axes and disposed alternately and the plurality of disks each includes a central opening penetrated by the tube, and a plurality of circumferential openings having different centers from the central opening, spaced apart from one another in a circumferential direction, and penetrated by the plurality of wires,

wherein the magnetic field shape sensor comprises:

an excitation coil configured to entirely and directly surround an outer peripheral surface of the tube; and

a plurality of sensing coils corresponding to the plurality of wires and configured to each entirely and directly surround an outer peripheral surface of the corresponding wire.

2 . The wire-driven continuous body robot of claim 1 , wherein the plurality of wires is provided as four wires, two wires of the four wires are disposed symmetrically with respect to an X-axis on an X-Y plane defined such that a center of a cross-section of the tube is an origin of the X-Y plane, and remaining two wires are disposed symmetrically with respect to a Y-axis on the X-Y plane.

3 . The wire-driven continuous body robot of claim 1 , wherein the excitation coil and the plurality of sensing coils are bent in a direction corresponding to a direction in which the wire-driven continuous body robot is bent, and

wherein the magnetic field shape sensor further comprises:

a power source configured to supply power to the excitation coil;

a measurer configured to measure an induced voltage according to the bending of the plurality of sensing coils, wherein the plurality of sensing coils is provided as four sensing coils, two sensing coils are disposed symmetrically with respect to an X-axis on an X-Y plane defined such that a center of a cross-section of the tube is an origin of the X-Y plane, and the remaining two sensing coils are disposed symmetrically with respect to a Y-axis on the X-Y plane; and

wherein the robot is configured to determine a rotation angle φ and a bending angle θ of the wire-driven continuous body robot on the basis of a difference (Sig x ) in induced voltage between the sensing coils disposed symmetrically with respect to the X-axis by using a first prediction model,

wherein the first prediction model is a multivariate linear regression model trained to predict the rotation angle φ and the bending angle θ of the wire-driven continuous body robot based on the difference (Sig x ),

wherein the robot is configured to determine rotation angle φ and a bending angle θ of the wire-driven continuous body robot on the basis of a difference (Sig y ) in induced voltage between the sensing coils disposed symmetrically with respect to the Y-axis by using a second prediction model, and

wherein the second prediction model is a multivariate linear regression model trained to predict the rotation angle φ and the bending angle θ of the wire-driven continuous body robot based on the difference (Sig y ).