Development of Polymer Optical Fiber Sensors for Lower Limb Exoskeletons Instrumentation
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.
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