Instrumentation and validation of polymer optical fiber sensor technology on a knee exoskeleton

Abstract

In this paper is presented the construction, characterization, and evaluation of POF sensors for joint angle measurement and human-robot interaction torque assessment on a knee exoskeleton. Experimental tests with a voluntary user demonstrated the feasibility of these sensors on sitting position exercises. The results encourage us to work toward the implementation of this assembly in a six joint lower limb exoskeleton and to study robot control strategies based on POF sensor information.