Journal
IEEE SENSORS JOURNAL
Volume 19, Issue 11, Pages 4054-4061Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2019.2898722
Keywords
Polymer optical fiber; fiber Bragg gratings; series elastic actuators; torque sensor; Kalman filter
Funding
- Coordenacao de Aperfeicoamento de Pessoal de Nivel Superior [001, 88887.095626/2015-01]
- Fundacao de Amparo a Pesquisa e Inovacao do Espirito Santo [72982608, 84336650]
- National Council for Scientific and Technological Development [304192/2016-3, 310310/2015-6]
- National Funds (OE) through the Fundacao para a Ciencia e a Tecnologia (FCT)
- National Funds through the FCT/Ministerio da Educacao e Ciencia [UID/EEA/50008/2019]
- European Regional Development Fund
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We report the application of fiber Bragg grating (FBG) arrays in polymer optical fibers for the quasi-distributed displacement and torque sensing in a series elastic actuator's spring. The arrays were inscribed in cyclic transparent optical polymer fiber through the direct-write, plane-by-plane inscription method using a femtosecond laser. Two arrays with four FBGs each were positioned on a rotary spring, and a numerical analysis using the finite-element method was performed to evaluate the sensors' behavior under different loading conditions. Experimental tests were performed on the spring, and the results show that the FBGs responses follow the predicted numerical simulations. In addition, a Kalman filter was applied on the response of the FBGs for sensor fusion, leading to a more accurate torque estimation, where the relative error for the torque estimation was improved by a factor of 7. Furthermore, transverse forces were applied on the predefined points of the spring in order to show the ability of the quasi-distributed sensor approach to identify external mechanical disturbances on the spring.
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