Polymer optical fiber sensors in wearable devices: Toward novel instrumentation approaches for gait assistance devices

This paper presents the application of polymer optical fiber (POF) sensors in wearable devices for gait assistance. Intensity variation-based POF curvature sensor for the acquisition of joint angles and a POF insole based to detect gait events were developed. Three wearable devices were employed for the practical validation of the developed sensors: an active orthosis with one degree of freedom, a robotic exoskeleton, and a functional electrical stimulation (FES) system for gait assistance. POF is a viscoelastic material, which does not have a constant response to stress or strain and also can present hysteresis in dynamic measurements. In order to mitigate these effects, a compensation technique based on the polymer viscoelastic features was applied on both the curvature sensor and the instrumented insole. The results obtained for the POF curvature sensor on the knee joint angle measurement of the orthosis and the exoskeleton show root mean squared error of 3.7° and 3.8°, respectively. Regarding the POF insole results, it was used to identify five gait events in the FES system application. The reported results pave the way for new instrumentation approaches in wearable devices with flexible sensors that can be especially desirable in the rigid robots presented but also in soft robotics applications