期刊
SENSORS
卷 14, 期 12, 页码 24483-24501出版社
MDPI
DOI: 10.3390/s141224483
关键词
fiber-optics sensor; long-period fiber grating; Gaussian mixture model; recursive least-square estimator; finger movement; real-time system
资金
- Mexican Public Education Department (Secretaria de Educacion Publica or SEP, in Spain) [PROMEP/103.5/12/8045, PROMEP/103.5/13/7048]
- National Council of Science and Technology (Consejo Nacional de Ciencia y Tecnologia or CONACYT, in Spain), Mexico [289377, 281517, 289473, 166361, 229839]
The implementation of signal filters in a real-time form requires a tradeoff between computation resources and the system performance. Therefore, taking advantage of low lag response and the reduced consumption of resources, in this article, the Recursive Least Square (RLS) algorithm is used to filter a signal acquired from a fiber-optics-based sensor. In particular, a Long-Period Fiber Grating (LPFG) sensor is used to measure the bending movement of a finger. After that, the Gaussian Mixture Model (GMM) technique allows us to classify the corresponding finger position along the motion range. For these measures to help in the development of an autonomous robotic hand, the proposed technique can be straightforwardly implemented on real time platforms such as Field Programmable Gate Array (FPGA) or Digital Signal Processors (DSP). Different angle measurements of the finger's motion are carried out by the prototype and a detailed analysis of the system performance is presented.
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