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Force sensing in compact concentric tube mechanism with optical fibers 341

Transmission spectrum of FBGs
0 FBG1
Transmission strength (dBm) –20
–10
FBG2

–30

–40

–50

–60
1527 1532 1537 1542 1547 1552 1557 1562 1567
Wavelength (nm)

Figure 14.14
Reflection spectrum of FBGs.

Calibration result (x-axis)
0.2
y = 0.0978x
0.15
R² = 0.9526 FBG1
Wavelength shift (nm) –0.05 0 0 0.2 0.4 0.6 0.8 1 FBG2
0.1
0.05

Linear
(FBG1)
Linear
–0.1
–0.15 y = –0.1181x (FBG2)
R² = 0.9699
–0.2
Force (N)
Figure 14.15
The x-axis calibration result of FBGs.