Desenvolvimento de sensor de força em fibra óptica polimérica para medição de interação humano-robô em marcha assistida por andador

Abstract

This Master Thesis 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 world’s 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 cerebral 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 work 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. Future research opportunities encompass the exploration of viscoelasticity compensation and its comparison with alternative approaches. Conducting tests involving participants performing diverse tasks while utilizing the force-sensor-equipped walker is advised. The extension of sensor techniques to encompass additional measurement axes stands as a viable prospect. In conjunction with the tests, a pivotal aspect involves assessing the clinical and commercial feasibility of the developed solutions, taking into account aspects of usability, durability, and user acceptance.