Abstract
This paper presents the instrumentation of a lower limb exoskeleton with polymer optical fiber (POF) sensors. The robotic device presents a potentiometer and an electronic strain gauge (ESG) for the assessment of angle and human-robot interaction forces, respectively. Such devices are compared with the proposed POF curvature sensor and a POF-based strain gauge (POF-SG). The results show a root mean squared error (RMSE) between the POF curvature sensor and the potentiometer of 1.80° in a measurement ranging from 10° to 80°, whereas a RMSE of 1.31 Nm was obtained between the ESG and POF-SG in a range of 0 to 14 Nm. Such results demonstrate the feasibility of POF sensors as alternative solution for the instrumentation of wearable robots.
This research is financed by CAPES (88887.095626/2015-01), FAPES (72982608), CNPq (304192/2016-3 and 310310/2015-6). C. Marques acknowledges the financial support from FCT through the fellowship SFRH/BPD/109458/2015, program UID/EEA/50008/2013 by the National Funds through the Fundação para a Ciência e a Tecnologia/Ministério da Educação e Ciência, and the European Regional Development Fund under the PT2020 Partnership Agreement.
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Leal-Junior, A.G., Frizera, A., Marques, C., Pontes, M.J. (2019). Development of Polymer Optical Fiber Sensors for Lower Limb Exoskeletons Instrumentation. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_30
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DOI: https://doi.org/10.1007/978-3-030-01887-0_30
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