Motion estimation of Twisted and Coiled Polymer-coated Optical Fiber using LSTM

Abstract

The twisted and coiled polymer-coated optical fiber (TCPOF) is a thermal-driven soft actuator fabricated by twisting and coiling a polymer-coated optical fiber. The TCPOF displacement sensing was validated to be estimated and controlled by using optical fiber embedded in TCPOF, but the displacement sensing considering the load change is remained issue.This paper proposes a TCPOF displacement estimator using the LSTM. Through experiments, we trained the estimator and investigated its performance.