Optical Fiber Sensors for the Next Generation of Rehabilitation Robotics

Optical Fiber Sensors for the Next Generation of Rehabilitation Robotics presents development concepts and applications of optical fiber sensors made of compliant materials in rehabilitation robotics. The book provides methods for the instrumentation of novel compliant devices. It presents the development, characterization and application of optical fiber sensors in robotics, ranging from conventional robots with rigid structures to novel wearable systems with soft structures, including smart textiles and intelligent structures for healthcare. Readers can look to this book for help in designing robotic structures for different applications, including problem-solving tactics in soft robotics.

This book will be a great resource for mechanical, electrical and electronics engineers and photonics and optical sensing engineers.

Autorentext

Arnaldo G. Leal-Junior was born in Uberlandia, Brazil, in 1991. He received the B.S. degree in mechanical engineering and the Ph.D. degree in electrical engineering from the Universidade Federal do Espírito Santo (UFES), Brazil, in 2015 and 2018, respectively. He is currently a professor in the mechanical engineering Department, UFES. His research interests include optical fiber sensors with emphasis on polymer optical fiber sensors, robotic systems, instrumentation and actuators.

Klappentext

Optical Fiber Sensors for the Next Generation of Rehabilitation Robotics presents development concepts and applications of optical fiber sensors made of compliant materials in rehabilitation robotics. The book provides methods for the instrumentation of novel compliant devices. It presents the development, characterization and application of optical fiber sensors in robotics, ranging from conventional robots with rigid structures to novel wearable systems with soft structures, including smart textiles and intelligent structures for healthcare. Readers can look to this book for help in designing robotic structures for different applications, including problem-solving tactics in soft robotics. This book will be a great resource for mechanical, electrical and electronics engineers and photonics and optical sensing engineers.

Inhalt

Preface ix

Part I ** Introduction to soft robotics and rehabilitation systems

1. Introduction and overview of wearable technologies

   1.1 Motivation 3 1.2 Wearable robotics and assistive devices 10 1.3 Wearable sensors and monitoring devices 14 1.4 Outline of the book 18 References 21

2. Soft wearable robots

   2.1 Soft robots: definitions and (bio)medical applications 27 2.2 Soft robots for rehabilitation and functional compensation 30 2.3 Human-in-the-loop design of soft structures and healthcare systems** 34

   2.3.1 Human-in-the-loop systems 34

   2.3.2 Human-in-the-loop applications and current trends 37

   2.3.3 Human-in-the-loop design in soft wearable robots 39 2.4 Current trends and future approaches in wearable soft robots 43 References 46 **

3. Gait analysis: overview, trends, and challenges

   3.1 Human gait 53 3.2 Gait cycle: definitions and phases** 56

   3.2.1 Kinematics and dynamics of human gait 57 3.3 Gait analysis systems: fixed systems and wearable sensors 58 References 61

   Part II ** Introduction to optical fiber sensing

4. Optical fiber fundaments and overview

   4.1 Historical perspective 67 4.2 Light propagation in optical waveguides 69 4.3 Optical fiber properties and types 72 4.4 Passive and active components in optical fiber systems** 76

   4.4.1 Light sources 77

   4.4.2 Photodetectors 77

   4.4.3 Optical couplers 79

   4.4.4 Optical circulators 80

   4.4.5 Spectrometers and optical spectrum analyzers 81 4.5 Optical fiber fabrication and connection methods 83

   4.5.1 Fabrication methods 84

   4.5.2 Optical fiber connectorization approaches 87 References 89 **

5. Optical fiber materials

   5.1 Optically transparent materials 93 5.2 Viscoelasticity overview 96 5.3 Dynamic mechanical analysis in polymer optical fibers** 101

   5.3.1 DMA on PMMA solid core POF 103

   5.3.2 Dynamic characterization of CYTOP fibers 107 5.4 Influence of optical fiber treatments on polymer properties 111 References 115 **

6. Optical fiber sensing technologies

   6.1 Intensity variation sensors** 119

   6.1.1 Macrobending sensors 120

   6.1.2 Light coupling-based sensors 125

   6.1.3 Multiplexed intensity variation sensors 127 6.2 Interferometers 129 6.3 Gratings-based sensors 133 6.4 Compensation techniques and cross-sensitivity mitigation in optical fiber sensors 138 References 143

   Part III ** Optical fiber sensors in rehabilitation systems

7. Wearable robots instrumentation

   7.1 Optical fiber sensors on exoskeleton's instrumentation 151 7.2 Exoskeleton's angle assessment applications with intensity variation sensors** 152

   7.2.1 Case study: active lower limb orthosis for rehabilitation

   (ALLOR) 156

   7.2.2 Case study: modular exoskeleton 157 ** 7.3 Human-robot interaction forces assessment with Fiber Bragg

   Gratings 160 7.4 Interaction forces and microclimate assessment with intensity variation sensors 166 References 172

8. Smart structures and textiles for gait analysis

   8.1 Optical fiber sensors for kinematic parameters assessment** 175

   8.1.1 Intensity variation-based sensors for joint angle

   assessment 175

   8.1.2 Fiber Bragg gratings sensors with tunable filter

   interrogation for joint angle assessment 178 8.2 Instrumented insole for plantar pressure distribution and ground reaction forces evaluation 183

   8.2.1 Fiber Bragg grating insoles 183

   8.2.2 Multiplexed intensity variation-based sensors for smart

   insoles 188 8.3 Spatiotemporal parameters estimation using integrated optical fiber sensors 198 References 199 **

9. Soft robotics and compliant actuators instrumentation

   9.1 Series elastic actuators instrumentation** 201

   9.1.1 Torque measurement with intensity variation sensors 202

   9.1.2 Torque measurement with intensity variation sensors 206 9.2 Tendon-driven actuators instrumentation 212

   9.2.1 Artificial tendon instrumentation with highly flexible

   optical fibers 213 References 217

   Part IV ** Case studies and additional applications

10. Wearable multifunctional smart textiles

    10.1 Optical fiber embedded-textiles for physiological parameters monitoring** 223

    10.1.1 Breath and heart rates monitoring 224

    10.1.2 Body temperature assessment 232 10.2 Smart textile for multiparameter sensing and activities monitoring 234 10.3 Optical fiber-embedded smart clothing for mechanical perturbation and physical interaction detection 239 References 241 **

11. Smart walker's instrumentation and development with compliant optical fiber sensors

    11.1 Smart walkers' technology overview 245 11.2 Smart walker embedded sensors for physiological parameters assessment** 247

    11.2.1 System description 247

    11.2.2 Preliminary validation 250

    11.2.3 Experimental validation 252 11.3 Multiparameter quasidistributed sensing in a smart walker structure 252

    11.3.1 Experimental validation 252

    11.3.2 Experimental validation 256 References 260 **

12. Optical fiber sensors applications for human health

    12.1 Robotic surgery 263 12.2 Biosensors** 269

    12.2.1 Introduction to biosensing 269

    12.2.2 Background on optical fiber biosensing working

    principles 271

    12.2.3 Biofunctionalization strategies for fiber immunosensors 276

    12.2.4 Immunosensing applications in medical biomarkers

    detection 279 References 282 **

13. Conclusions and outlook

    13.1 Summary 287 13.2 Final remarks and outlook** 290

    Index 293