Chapter 9 - Soft robotics and compliant actuators instrumentation

Abstract

A trend in wearable robotics is the development of soft and compliant actuators as well as soft structures to enable better adaptability between the user and the wearable device. However, such novel design of robotics place additional demands on the control and instrumentation systems that many conventional technologies are not able to comply with due to the difficulty of positioning rigid sensors in soft structures. Such limitations can be mitigated using optical fiber sensors systems due to their flexibility, high strain limits, multiplexing capabilities, and small dimensions. Furthermore, their electromagnetic field immunity makes them attractive options for wearable robots instrumentations. Aiming at these advantages, this chapter presents the application of optical fiber sensors in compliant actuators and soft structures, where the optical fiber-based systems are applied on torque and displacement assessment in series elastic actuators as well as in disturbance detection/rejection systems for these actuators. In addition, the photonic sensors are also employed on the instrumentation of artificial tendons and tendon-driven actuators.