Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots
This paper presents the development and validation of a polymer optical-fiber strain-gauge sensor based on the light-coupling principle to measure axial deformation of elastic tendons incorporated in soft actuators for wearable assistive robots. An analytical model was proposed and further validated...
- Autores:
-
Cifuentes Garcia, Carlos Andrés
Casas, Jonathan
Leal-Junior, Arnaldo
Díaz, Camilo R.
Frizera, Anselmo
Múnera, Marcela
- Tipo de recurso:
- Article of investigation
- Fecha de publicación:
- 2019
- Institución:
- Escuela Colombiana de Ingeniería Julio Garavito
- Repositorio:
- Repositorio Institucional ECI
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.escuelaing.edu.co:001/1497
- Acceso en línea:
- https://repositorio.escuelaing.edu.co/handle/001/1497
https://doi.org/10.3390/ma12091443
- Palabra clave:
- Robótica médica
Robots
Physical human
Robot interaction
Soft robotics
Optical
Fiber strain gauge
Físico humano
Interacción con el robot
Robótica blanda
Óptica
Galga extensométrica de fibra
- Rights
- openAccess
- License
- http://purl.org/coar/access_right/c_abf2
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| dc.title.spa.fl_str_mv |
Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots |
| title |
Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots |
| spellingShingle |
Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots Robótica médica Robots Physical human Robot interaction Soft robotics Optical Fiber strain gauge Físico humano Interacción con el robot Robótica blanda Óptica Galga extensométrica de fibra |
| title_short |
Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots |
| title_full |
Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots |
| title_fullStr |
Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots |
| title_full_unstemmed |
Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots |
| title_sort |
Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive Robots |
| dc.creator.fl_str_mv |
Cifuentes Garcia, Carlos Andrés Casas, Jonathan Leal-Junior, Arnaldo Díaz, Camilo R. Frizera, Anselmo Múnera, Marcela |
| dc.contributor.author.none.fl_str_mv |
Cifuentes Garcia, Carlos Andrés Casas, Jonathan Leal-Junior, Arnaldo Díaz, Camilo R. Frizera, Anselmo Múnera, Marcela |
| dc.contributor.researchgroup.spa.fl_str_mv |
GiBiome |
| dc.subject.armarc.none.fl_str_mv |
Robótica médica Robots |
| topic |
Robótica médica Robots Physical human Robot interaction Soft robotics Optical Fiber strain gauge Físico humano Interacción con el robot Robótica blanda Óptica Galga extensométrica de fibra |
| dc.subject.proposal.spa.fl_str_mv |
Physical human Robot interaction Soft robotics Optical Fiber strain gauge Físico humano Interacción con el robot Robótica blanda Óptica Galga extensométrica de fibra |
| description |
This paper presents the development and validation of a polymer optical-fiber strain-gauge sensor based on the light-coupling principle to measure axial deformation of elastic tendons incorporated in soft actuators for wearable assistive robots. An analytical model was proposed and further validated with experiment tests, showing correlation with a coefficient of R = 0.998 between experiment and theoretical data, and reaching a maximum axial displacement range of 15 mm and no significant hysteresis. Furthermore, experiment tests were carried out attaching the validated sensor to the elastic tendon. Results of three experiment tests show the sensor’s capability to measure the tendon’s response under tensile axial stress, finding 20.45% of hysteresis in the material’s response between the stretching and recovery phase. Based on these results, there is evidence of the potential that the fiber-optical strain sensor presents for future applications in the characterization of such tendons and identification of dynamic models that allow the understanding of the material’s response to the development of more efficient interaction-control strategies. |
| publishDate |
2019 |
| dc.date.issued.none.fl_str_mv |
2019 |
| dc.date.accessioned.none.fl_str_mv |
2021-05-26T20:33:34Z 2021-10-01T17:16:48Z |
| dc.date.available.none.fl_str_mv |
2021-05-26 2021-10-01T17:16:48Z |
| dc.type.spa.fl_str_mv |
Artículo de revista |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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info:eu-repo/semantics/publishedVersion |
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Text |
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info:eu-repo/semantics/article |
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http://purl.org/redcol/resource_type/ART |
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1996-1944 |
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https://repositorio.escuelaing.edu.co/handle/001/1497 |
| dc.identifier.doi.none.fl_str_mv |
10.3390/ma12091443 |
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https://doi.org/10.3390/ma12091443 |
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1996-1944 10.3390/ma12091443 |
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https://repositorio.escuelaing.edu.co/handle/001/1497 https://doi.org/10.3390/ma12091443 |
| dc.language.iso.spa.fl_str_mv |
eng |
| language |
eng |
| dc.relation.citationedition.spa.fl_str_mv |
Materials 2019, 12(9), 1443; https://doi.org/10.3390/ma12091443 |
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17 |
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Materials |
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Polygerinos, P.; Correll, N.; Morin, S.A.; Mosadegh, B.; Onal, C.D.; Petersen, K.; Cianchetti, M.; Tolley, M.T.; Shepherd, R.F. Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction. Adv. Eng. Mater. 2017, 19, 1700016. Huo, W.; Mohammed, S.; Moreno, J.C.; Amirat, Y. Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art. IEEE Syst. J. 2016, 10, 1068–1081. Viteckova, S.; Kutilek, P.; Jirina, M. Wearable lower limb robotics: A review. Biocybern. Biomed. Eng. 2013, 33, 96–105. Mohammed, S.; Amirat, Y.; Rifai, H. Lower-Limb Movement Assistance through Wearable Robots: State of the Art and Challenges. Adv. Robot. 2012, 37–41 Moreno, J.; Asin, G.; Pons, J.; Cuypers, H.; Vanderborght, B.; Lefeber, D.; Ceseracciu, E.; Reggiani, M.; Thorsteinsson, F.; Del-Ama, A.; et al. Symbiotic Wearable Robotic Exoskeletons: The Concept of the BioMot Project J.C.; Lecture Notes in Computer Science; Springer: Berlin/Heidelberg, Germany, 2014; Volume 8820, pp. 72–83. Veale, A.J.; Xie, S.Q. Towards compliant and wearable robotic orthoses: A review of current and emerging actuator technologies. Med. Eng. Phys. 2016, 38, 317–325 Albu-Schaffer, A.; Fischer, M.; Schreiber, G.; Schoeppe, F.; Hirzinger, G. Soft robotics: What Cartesian stiffness can obtain with passively compliant, uncoupled joints? In Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, 28 September–2 October 2004; pp. 3295–3301. Zinn, M.; Khatib, O.; Roth, B.; Salisbury, J.K. A New Actuation Approach for Human Friendly Robot Design. Exp. Robot. VIII 2003, 5, 113–122. Koganezawa, K.; Ban, S. Stiffness control of antagonistically driven redundant D.O.F. manipulator. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 30 September–4 October 2002; pp. 2280–2285 Manti, B.M.; Cacucciolo, V.; Cianchetti, M. Stiffening in Soft Robotics. IEEE Robot. Autom. Mag. 2016, 23, 93–106. [ Veneman, J.F.; Ekkelenkamp, R.; Kruidhof, R.; Van Der Helm, F.C.; Van Der Kooij, H. Design of a series elastic- and bowdencable-based actuation system for use as torque-actuator in exoskeleton-type training. In Proceedings of the 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA, 28 June–1 July 2005; Volume 2005, pp. 496–499 Kong, K.; Jeon, D. Design and control of an exoskeleton for the elderly and patients. IEEE/ASME Trans. Mechatron. 2006, 11, 428–432. Tsagarakis, N.; Caldwell, D.G. Development and Control of a ‘Soft-Actuated’ Exoskeleton for Use in Physiotherapy and Training. Auton. Robot. 2003, 15, 21–33. Costz, N.; Kousidou, S.; Caldwell, D.G.; Tsagarakits, N.G.; Sarakoglou, I. “Soft” Exoskeletons for Upper and Lower Body Rehabilitation—Design, Control and Testing. Int. J. Humanoid Robot. 2007, 4, 549–573 Kim, J.; Hwang, S.; Sohn, R.; Lee, Y.; Kim, Y. Development of an active ankle foot orthosis to prevent foot drop and toe drag in hemiplegic patients: A preliminary study. Appl. Bionics Biomech. 2011, 8, 377–384 Cain, S.M.; Gordon, K.E.; Ferris, D.P. Locomotor adaptation to a powered ankle-foot orthosis depends on control method. J. Neuroeng. Rehabil. 2007, 13, 1–13. [ Manchola, M.; Serrano, D.; Daniel, G.; Ballen, F.; Casas, D.; Munera, M. Wearable Robotics: Challenges and Trends. In Proceedings of the 2nd International Symposium on Wearable Robotics—WeRob2016, Segovia, Spain, 18–21 October 2016; Volume 16, pp. 160–164 Rossiter, J.; Hauser, H. Soft Robotics—The Next Industrial Revolution? [Industrial Activities]. IEEE Robot. Autom. Mag. 2016, 23, 17–20. Leal-Junior, A.; Casas, J.; Marques, C.; Pontes, M.; Frizera, A.; Leal-Junior, A.; Casas, J.; Marques, C.; Pontes, M.J.; Frizera, A. Application of Additive Layer Manufacturing Technique on the Development of High Sensitive Fiber Bragg Grating Temperature Sensors. Sensors 2018, 18, 4120. [ Goldfield, E.C.; Park, Y.L.; Chen, B.R.; Hsu, W.H.; Young, D.; Wehner, M.; Kelty-Stephen, D.G.; Stirling, L.; Weinberg, M.; Newman, D.; et al. Bio-Inspired Design of Soft Robotic Assistive Devices: The Interface of Physics, Biology, and Behavior. Ecol. Psychol. 2012, 24, 300–327. [ Pinet, É. Fabry-Pérot Fiber-Optic Sensors for Physical Parameters Measurement in Challenging Conditions. J. Sens. 2009, 2009, 1–9. Leal-Junior, A.G.; Frizera, A.; Vargas-Valencia, L.; Dos Santos, W.M.; Bo, A.P.; Siqueira, A.A.; Pontes, M.J. Polymer Optical Fiber Sensors in Wearable Devices: Toward Novel Instrumentation Approaches for Gait Assistance Devices. IEEE Sens. J. 2018, 18, 7085–7092. James, S.W.; Tatam, R.P. Optical fibre long-period grating sensors: Characteristics and application. Meas. Sci. Technol. 2003, 14, R49–R61 Patrick, H.; Williams, G.; Kersey, A.; Pedrazzani, J.; Vengsarkar, A. Hybrid fiber Bragg grating/long period fiber grating sensor for strain/temperature discrimination. IEEE Photonics Technol. Lett. 1996, 8, 1223–1225. Chan, T.; Yu, L.; Tam, H.; Ni, Y.; Liu, S.; Chung, W.; Cheng, L. Fiber Bragg grating sensors for structural health monitoring of Tsing Ma bridge: Background and experimental observation. Eng. Struct. 2006, 28, 648–659. Guo, T.; Liu, F.; Guan, B.O.; Albert, J. Tilted fiber grating mechanical and biochemical sensors. Opt. Laser Technol. 2016, 78, 19–33. Shao, L.Y.; Albert, J. Lateral force sensor based on a core-offset tilted fiber Bragg grating. Opt. Commun. 2011, 284, 1855–1858. James, S.; Dockney, M.; Tatam, R. Simultaneous independent temperature and strain measurement using in-fibre Bragg grating sensors. Electron. Lett. 1996, 32, 1133. [ Bilro, L.; Alberto, N.; Pinto, J.L.; Nogueira, R. Optical sensors based on plastic fibers. Sensors (Switzerland) 2012, 12, 12184–12207. Dunne, L.E.; Walsh, P.; Smyth, B.; Caulfield, B. Design and evaluation of a wearable optical sensor for monitoring seated spinal posture. In Proceedings of the 2006 10th IEEE International Symposium on Wearable Computers, Montreux, Switzerland, 11–14 October 2006; pp. 65–68. Zhao, B.H.; Jalving, J.; Huang, R.; Knepper, R.; Ruina, A.; Shepherd, R. A Helping Hand: Soft Orthosis with Integrated Optical Strain Sensors and EMG Control. IEEE Robot. Autom. Mag. 2016, 23, 55–64 Jae Yoo, W.; Won Jang, K.; Ki Seo, J.; Yeon Heo, J.; Soo Moon, J.; Park, J.Y.; Lee, B. Development of Respiration Sensors Using Plastic Optical Fiber for Respiratory Monitoring Inside MRI System. J. Opt. Soc. Korea 2010, 14, 235–239. Grillet, A.; Kinet, D.; Witt, J.; Schukar, M.; Krebber, K.; Pirotte, F.; Depré, A. Optical Fiber Sensors Embedded Into Medical Textiles for Healthcare Monitoring. IEEE Sens. J. 2008, 8, 1215 Harnett, C.K.; Zhao, H.; Shepherd, R.F. Stretchable Optical Fibers: Threads for Strain-Sensitive Textiles. Adv. Mater. Technol. 2017, 2, 1–7. Optoelectronically Innervated Soft Prosthetic Hand via Stretchable Optical Waveguides. Available online: https://pdfs.semanticscholar.org/70c4/4a842f20ff3c45d74d6e2e6653bcc40ef388.pdf (accessed on 1 April 2019) Guo, J.; Liu, X.; Jiang, N.; Yetisen, A.K.; Yuk, H.; Yang, C.; Khademhosseini, A.; Zhao, X.; Yun, S.H. Highly Stretchable, Strain Sensing Hydrogel Optical Fibers. Adv. Mater. 2016, 28, 10244–10249. Taffoni, F.; Formica, D.; Saccomandi, P.; Pino, G.; Schena, E.; Taffoni, F.; Formica, D.; Saccomandi, P.; Pino, G.D.; Schena, E. Optical Fiber-Based MR-Compatible Sensors for Medical Applications: An Overview. Sensors 2013, 13, 14105–14120. To, C.; Hellebrekers, T.; Jung, J.; Yoon, S.J.; Park, Y.L. A Soft Optical Waveguide Coupled With Fiber Optics for Dynamic Pressure and Strain Sensing. IEEE Robot. Autom. Lett. 2018, 3, 3821–3827. Leal-Junior, A.G.; Frizera, A.; Marques, C.; Sánchez, M.R.; Botelho, T.R.; Segatto, M.V.; Pontes, M.J. Polymer optical fiber strain gauge for human-robot interaction forces assessment on an active knee orthosis. Opt. Fiber Technol. 2018, 41, 205–211. Vallan, A.; Casalicchio, M.L.; Olivero, M.; Perrone, G. Assessment of a Dual-Wavelength Compensation Technique for Displacement Sensors Using Plastic Optical Fibers. IEEE Trans. Instrum. Meas. 2012, 61, 1377–1383. Zawawi, M.A.; O’Keeffe, S.; Lewis, E. Plastic optical fibre sensor for spine bending monitoring with power fluctuation compensation. Sensors (Switzerland) 2013, 13, 14466–14483. Beach, Z.M.; Gittings, D.J.; Soslowsky, L.J. Muscle and Tendon Injuries. Med. Sci. Sports Exerc. 2018, 50, 388. Svensson, R.B.; Hassenkam, T.; Hansen, P.; Peter Magnusson, S. Viscoelastic behavior of discrete human collagen fibrils. J. Mech. Behav. Biomed. Mater. 2010, 3, 112–115. Atkinson, T.S.; Ewers, B.J.; Haut, R.C. The tensile and stress relaxation responses of human patellar tendon varies with specimen cross-sectional area. J. Biomech. 1999, 32, 907–914. Wren, T.A.L.; Yerby, S.A.; Beaupr, G.S.; Carter, D.R.; Beaupré, G.S. Mechanical properties of the human achilles tendon. Clin. Biomech. 2001, 16, 245–251. Petit, F.; Chalon, M.; Friedl, W.; Grebenstein, M.; Albu-sch, A. Bidirectional Antagonistic Variable Stiffness Actuation: Analysis , Design & Implementation. In Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, 3–7 May 2010; pp. 4189–4196 Bonsignorio, F.; Cangelosi, A. Co-exploring Actuator Antagonism and Bio-inspired Control in a Printable Robot Arm. In Proceedings of the 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Aberystwyth, UK, 23–26 August 2016; Volume 1, pp. 244–255 Kiesel, S.; Peters, K.; Hassan, T.; Kowalsky, M. Behaviour of intrinsic polymer optical fibre sensor for large-strain applications. Meas. Sci. Technol. 2007, 18, 3144–3154. Krebber, K.; Lenke, P.; Liehr, S.; Witt, J.; Schukar, M. Smart technical textiles with integrated POF sensors. Proc. SPIE 6933 Smart Sens. Phenom. Technol. Netw. Syst. 2008, 6933, 69330V. Welker, D.J.; Johns, W.E.; Jiang, C.; Ding, J.L.; Kuzyk, M.G. Fabrication and mechanical behavior of dye-doped polymer optical fiber. J. Appl. Phys. 2002, 92, 4–12. Antunes, P.F.C.; Varum, H.; Andre, P.S. Intensity-encoded polymer optical fiber accelerometer. IEEE Sens. J. 2013, 13, 1716–1720. Ziemann, Q.; Krauser, J.; Zamzow, P.E. POF Handbook—Optical Short Range Transmission Systems; Springer: Berlin/Heidelberg, Germany, 2008; p. 455. Sánchez-Manchola, M.; Gómez-Vargas, D.; Casas-Bocanegra, D.; Múnera, M.; Cifuentes, C.A. Development of a Robotic Lower-Limb Exoskeleton for Gait Rehabilitation: AGoRA Exoskeleton. In Proceedings of the 2018 IEEE ANDESCON, Santiago de Cali, Colombia, 22–24 August 2018; pp. 1–6. |
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Cifuentes Garcia, Carlos Andrésda8e70d8091de5ddba15f426cd2db4d8600Casas, Jonathan00c6c015bec9116424c0e7124dee04d8600Leal-Junior, Arnaldo5a8f1590bf5d337876acc246de981794600Díaz, Camilo R.2c4a88c2d1550287baa74966ed1306ce600Frizera, Anselmo5d58a1428e14b202b24e59ce29001166600Múnera, Marcela8047a30ff2499f8ae5a4e903871b8f95600GiBiome2021-05-26T20:33:34Z2021-10-01T17:16:48Z2021-05-262021-10-01T17:16:48Z20191996-1944https://repositorio.escuelaing.edu.co/handle/001/149710.3390/ma12091443https://doi.org/10.3390/ma12091443This paper presents the development and validation of a polymer optical-fiber strain-gauge sensor based on the light-coupling principle to measure axial deformation of elastic tendons incorporated in soft actuators for wearable assistive robots. An analytical model was proposed and further validated with experiment tests, showing correlation with a coefficient of R = 0.998 between experiment and theoretical data, and reaching a maximum axial displacement range of 15 mm and no significant hysteresis. Furthermore, experiment tests were carried out attaching the validated sensor to the elastic tendon. Results of three experiment tests show the sensor’s capability to measure the tendon’s response under tensile axial stress, finding 20.45% of hysteresis in the material’s response between the stretching and recovery phase. Based on these results, there is evidence of the potential that the fiber-optical strain sensor presents for future applications in the characterization of such tendons and identification of dynamic models that allow the understanding of the material’s response to the development of more efficient interaction-control strategies.Este artículo presenta el desarrollo y la validación de un sensor de galgas extensométricas de fibra óptica de polímero basado en el principio de acoplamiento de la luz para medir la deformación axial de tendones elásticos incorporados en actuadores blandos para robots de asistencia vestibles. Se propuso un modelo analítico y se validó con pruebas experimentales, mostrando una correlación con un coeficiente de R = 0,998 entre los datos experimentales y los teóricos, y alcanzando un rango de desplazamiento axial máximo de 15 mm y sin histéresis significativa. Además, se realizaron pruebas experimentales fijando el sensor validado al tendón elástico. Los resultados de tres pruebas experimentales muestran la capacidad del sensor para medir la respuesta del tendón bajo tensión axial de tracción, encontrando un 20,45% de histéresis en la respuesta del material entre la fase de estiramiento y la de recuperación. A partir de estos resultados, se evidencia el potencial que presenta el sensor de deformación de fibra óptica para futuras aplicaciones en la caracterización de este tipo de tendones y la identificación de modelos dinámicos que permitan entender la respuesta del material para el desarrollo de estrategias de interacción-control más eficientes.Biomedical Engineering Department, Colombian School of Engineering Julio Garavito, Bogotá 111166, Colombia; marcela.munera@escuelaing.edu.co (M.M.); carlos.cifuentes@escuelaing.edu.co (C.A.C.)Graduate Program of Electrical Engineering, Federal University of Espirito Santo, Vitoria 29075-910, Brazil; leal-junior.arnaldo@ieee.org (A.L.-J.); c.rodriguez.2016@ieee.org (C.R.D.); frizera@ieee.org (A.F.)Correspondence: jonathan.casas@escuelaing.edu.co; Tel.: +57-350-885-8697Received: 1 April 2019; Accepted: 29 April 2019; Published: 3 May 201917 páginasapplication/pdfengMDIPSuizahttps://www.mdpi.com/1996-1944/12/9/1443Large-Range Polymer Optical-Fiber Strain-Gauge Sensor for Elastic Tendons in Wearable Assistive RobotsArtículo de revistainfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/redcol/resource_type/ARThttp://purl.org/coar/version/c_970fb48d4fbd8a85Materials 2019, 12(9), 1443; https://doi.org/10.3390/ma12091443179112N/AMaterialsPolygerinos, P.; Correll, N.; Morin, S.A.; Mosadegh, B.; Onal, C.D.; Petersen, K.; Cianchetti, M.; Tolley, M.T.; Shepherd, R.F. Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction. Adv. Eng. Mater. 2017, 19, 1700016.Huo, W.; Mohammed, S.; Moreno, J.C.; Amirat, Y. Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art. IEEE Syst. J. 2016, 10, 1068–1081.Viteckova, S.; Kutilek, P.; Jirina, M. Wearable lower limb robotics: A review. Biocybern. Biomed. Eng. 2013, 33, 96–105.Mohammed, S.; Amirat, Y.; Rifai, H. Lower-Limb Movement Assistance through Wearable Robots: State of the Art and Challenges. Adv. Robot. 2012, 37–41Moreno, J.; Asin, G.; Pons, J.; Cuypers, H.; Vanderborght, B.; Lefeber, D.; Ceseracciu, E.; Reggiani, M.; Thorsteinsson, F.; Del-Ama, A.; et al. Symbiotic Wearable Robotic Exoskeletons: The Concept of the BioMot Project J.C.; Lecture Notes in Computer Science; Springer: Berlin/Heidelberg, Germany, 2014; Volume 8820, pp. 72–83.Veale, A.J.; Xie, S.Q. 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