Name: MARCOS REICH
Type: MSc dissertation
Publication date: 19/07/2023
Advisor:
Name |
Role |
|---|---|
| ANSELMO FRIZERA NETO | Co-advisor * |
| CAMILO ARTURO RODRIGUEZ DIAZ | Advisor * |
Examining board:
| Name |
Role |
|---|---|
| ANSELMO FRIZERA NETO | Co advisor * |
| CAMILO ARTURO RODRIGUEZ DIAZ | Advisor * |
| CARLOS ANDRES CIFUENTES GARCIA | External Examiner * |
| RICARDO CARMINATI DE MELLO | Internal Examiner * |
Summary: This paper presents a force sensor based on polymer optical fiber (POF) for human-robot interaction in robotic walkers. In the context of the rapid aging of the worlds population, physiological changes arise that affect mobility and increase the risk of falls, resulting in significant costs for the healthcare system. Additionally, there is a growing prevalence of pathologies that lead to motor and cognitive impairments, such as trauma, cerebral palsy and stroke. Smart walkers emerge as a promising solution to enhance the mobility and
quality of life for these individuals. Among the essential components of these devices, force sensors play a crucial role. While traditional sensors utilize conventional technologies such as strain gauges, this paper proposes an approach based on POF sensors. These sensors offer significant advantages, such as immunity to electromagnetic interference, compact size, and ease of handling. The aim of this work is to develop an alternative, low-cost force sensor based on POF with the potential for implementation in smart walkers. The proposed sensor utilizes monitoring of optical power variations in transmission mode to estimate force components during interaction. This approach has the potential to improve the accessibility of rehabilitation devices, contributing to a better quality of life for all individuals requiring assistance in this area. The dissemination of affordable and efficient assistive technologies is crucial to promoting the autonomy of these individuals. Based
on the results obtained in this study, the POF force sensor proved comparable to the reference system, with a root mean square error (RMSE) of 0.4914 KgF, in addition to being cost-effective and simple to manufacture.
