An architecture for measuring joint angles using a long period fiber grating-based sensor.

摘要: The implementation of signal filters in a real-time form requires tradeoff between computation resources and the system performance. Therefore, taking advantage low lag response reduced consumption resources, this article, Recursive Least Square (RLS) algorithm is used to filter acquired from fiber-optics-based sensor. In particular, Long-Period Fiber Grating (LPFG) sensor measure bending movement finger. After that, Gaussian Mixture Model (GMM) technique allows us classify corresponding finger position along motion range. For these measures help development an autonomous robotic hand, proposed can be straightforwardly implemented on real time platforms such as Field Programmable Gate Array (FPGA) or Digital Signal Processors (DSP). Different angle measurements finger's are carried out by prototype detailed analysis performance presented.