Optical Fiber Sensors for the Next Generation of Rehabilitation Robotics

<p>Preface ix</p> <p>Part I</p> <p>Introduction to soft robotics and rehabilitation systems</p> <p>1. Introduction and overview of wearable technologies</p> <p>1.1 Motivation 3</p> <p>1.2 Wearable robotics and assistive devices 10</p> <p>1.3 Wearable sensors and monitoring devices 14</p> <p>1.4 Outline of the book 18</p> <p>References 21</p> <p>2. Soft wearable robots</p> <p>2.1 Soft robots: definitions and (bio)medical applications 27</p> <p>2.2 Soft robots for rehabilitation and functional compensation 30</p> <p>2.3 Human-in-the-loop design of soft structures and healthcare systems 34</p> <p>2.3.1 Human-in-the-loop systems 34</p> <p>2.3.2 Human-in-the-loop applications and current trends 37</p> <p>2.3.3 Human-in-the-loop design in soft wearable robots 39</p> <p>2.4 Current trends and future approaches in wearable soft robots 43</p> <p>References 46</p> <p>3. Gait analysis: overview, trends, and challenges</p> <p>3.1 Human gait 53</p> <p>3.2 Gait cycle: definitions and phases 56</p> <p>3.2.1 Kinematics and dynamics of human gait 57</p> <p>3.3 Gait analysis systems: fixed systems and wearable sensors 58</p> <p>References 61</p> <p>Part II</p> <p>Introduction to optical fiber sensing</p> <p>4. Optical fiber fundaments and overview</p> <p>4.1 Historical perspective 67</p> <p>4.2 Light propagation in optical waveguides 69</p> <p>4.3 Optical fiber properties and types 72</p> <p>4.4 Passive and active components in optical fiber systems 76</p> <p>4.4.1 Light sources 77</p> <p>4.4.2 Photodetectors 77</p> <p>4.4.3 Optical couplers 79</p> <p>4.4.4 Optical circulators 80</p> <p>4.4.5 Spectrometers and optical spectrum analyzers 81</p> <p>4.5 Optical fiber fabrication and connection methods 83</p> <p>4.5.1 Fabrication methods 84</p> <p>4.5.2 Optical fiber connectorization approaches 87</p> <p>References 89</p> <p>5. Optical fiber materials</p> <p>5.1 Optically transparent materials 93</p> <p>5.2 Viscoelasticity overview 96</p> <p>5.3 Dynamic mechanical analysis in polymer optical fibers 101</p> <p>5.3.1 DMA on PMMA solid core POF 103</p> <p>5.3.2 Dynamic characterization of CYTOP fibers 107</p> <p>5.4 Influence of optical fiber treatments on polymer properties 111</p> <p>References 115</p> <p>6. Optical fiber sensing technologies</p> <p>6.1 Intensity variation sensors 119</p> <p>6.1.1 Macrobending sensors 120</p> <p>6.1.2 Light coupling-based sensors 125</p> <p>6.1.3 Multiplexed intensity variation sensors 127</p> <p>6.2 Interferometers 129</p> <p>6.3 Gratings-based sensors 133</p> <p>6.4 Compensation techniques and cross-sensitivity mitigation in optical fiber sensors 138</p> <p>References 143</p> <p>Part III</p> <p>Optical fiber sensors in rehabilitation systems</p> <p>7. Wearable robots instrumentation</p> <p>7.1 Optical fiber sensors on exoskeleton’s instrumentation 151</p> <p>7.2 Exoskeleton’s angle assessment applications with intensity variation sensors 152</p> <p>7.2.1 Case study: active lower limb orthosis for rehabilitation</p> <p>(ALLOR) 156</p> <p>7.2.2 Case study: modular exoskeleton 157</p> <p>7.3 Human-robot interaction forces assessment with Fiber Bragg</p> <p>Gratings 160</p> <p>7.4 Interaction forces and microclimate assessment with intensity variation sensors 166</p> <p>References 172</p> <p>8. Smart structures and textiles for gait analysis</p> <p>8.1 Optical fiber sensors for kinematic parameters assessment 175</p> <p>8.1.1 Intensity variation-based sensors for joint angle</p> <p>assessment 175</p> <p>8.1.2 Fiber Bragg gratings sensors with tunable filter</p> <p>interrogation for joint angle assessment 178</p> <p>8.2 Instrumented insole for plantar pressure distribution and ground reaction forces evaluation 183</p> <p>8.2.1 Fiber Bragg grating insoles 183</p> <p>8.2.2 Multiplexed intensity variation-based sensors for smart</p> <p>insoles 188</p> <p>8.3 Spatiotemporal parameters estimation using integrated optical fiber sensors 198</p> <p>References 199</p> <p>9. Soft robotics and compliant actuators instrumentation</p> <p>9.1 Series elastic actuators instrumentation 201</p> <p>9.1.1 Torque measurement with intensity variation sensors 202</p> <p>9.1.2 Torque measurement with intensity variation sensors 206</p> <p>9.2 Tendon-driven actuators instrumentation 212</p> <p>9.2.1 Artificial tendon instrumentation with highly flexible</p> <p>optical fibers 213</p> <p>References 217</p> <p>Part IV</p> <p>Case studies and additional applications</p> <p>10. Wearable multifunctional smart textiles</p> <p>10.1 Optical fiber embedded-textiles for physiological parameters monitoring 223</p> <p>10.1.1 Breath and heart rates monitoring 224</p> <p>10.1.2 Body temperature assessment 232</p> <p>10.2 Smart textile for multiparameter sensing and activities monitoring 234</p> <p>10.3 Optical fiber-embedded smart clothing for mechanical perturbation and physical interaction detection 239</p> <p>References 241</p> <p>11. Smart walker’s instrumentation and development with compliant optical fiber sensors</p> <p>11.1 Smart walkers’ technology overview 245</p> <p>11.2 Smart walker embedded sensors for physiological parameters assessment 247</p> <p>11.2.1 System description 247</p> <p>11.2.2 Preliminary validation 250</p> <p>11.2.3 Experimental validation 252</p> <p>11.3 Multiparameter quasidistributed sensing in a smart walker structure 252</p> <p>11.3.1 Experimental validation 252</p> <p>11.3.2 Experimental validation 256</p> <p>References 260</p> <p>12. Optical fiber sensors applications for human health</p> <p>12.1 Robotic surgery 263</p> <p>12.2 Biosensors 269</p> <p>12.2.1 Introduction to biosensing 269</p> <p>12.2.2 Background on optical fiber biosensing working</p> <p>principles 271</p> <p>12.2.3 Biofunctionalization strategies for fiber immunosensors 276</p> <p>12.2.4 Immunosensing applications in medical biomarkers</p> <p>detection 279</p> <p>References 282</p> <p>13. Conclusions and outlook</p> <p>13.1 Summary 287</p> <p>13.2 Final remarks and outlook 290</p> <p>Index 293</p>