Highly Stretchable Polymer Optical Fiber for Mechanical Sensing in Artificial Tendons: Towards Novel Sensors for Soft Robotics

Abstract

The control of tendon-driven actuators is mainly affected by the tendon behavior under stress or strain. The measurement of these parameters on artificial tendons brings benefits on the control and novel approaches for soft robotics actuators. This paper presents the development of polymer optical fiber sensors fabricated through the light spinning polymerization process (LPS-POF) in artificial tendons. This fiber has exceptionally low Young’s modulus and high strain limits, suitable for sensing applications in soft structures. Two different configurations are tested, indicating the possibility of measuring strain and stress applied in the tendon with determination coefficients of 0.996 and 0.994, respectively.

Keywords

• polymer optical fibers
• soft robotics
• tendon-driven actuators
• artificial tendons