POF-Sensed Upper-Limb Exoskeleton: Kinematics, EMG and Controller Data
Arciniegas-Mayag L.J., Silva P., Cifuentes C.A., Segatto M.E.V., Diaz C.A.R.
Federal University of Espírito Santo (UFES) / University of the West of England · 2026 · Brazil
Evaluation data for polymer-optical-fiber vs. IMU sensing in an impedance-controlled upper-limb industrial exoskeleton: arm kinematics, surface EMG and control-loop signals from 3 subjects performing lifting, carrying and lowering tasks assisted and unassisted, plus test-bench step/chirp response trials. 38 raw CSV files on figshare (CC BY 4.0) accompanying a Scientific Reports 2026 paper.
Details
- Subjects
- n = 3
- Setting
- Laboratory (controlled or simulated)
- Protocol / load
- Industrial-style lifting, carrying and lowering load tasks, assisted vs. unassisted
- Equipment
- Polymer-optical-fiber (POF) joint-angle sensing vs. IMU sensing on an impedance-controlled upper-limb exoskeleton; surface EMG
- Formats
csv- License
- CC-BY-4.0
- Keywords
- exoskeleton, upper-limb, fiber-optic-sensing, impedance-control, semg
- Added to catalog
- 2026-09-01
Publications
- Arciniegas-Mayag L.J., Silva P., Segatto M.E.V., Cifuentes C.A., Diaz C.A.R. (2026). Characterization and functional evaluation of a fiber-optic instrumented impedance-controlled upper-limb exoskeleton. Sci. Rep.Reports 16-23% reduction in muscle activation with assistance while preserving range of motion.
Exoskeleton
- Record type
- Device evaluation
- Device(s)
- POF-sensed upper-limb exoskeleton (UFES)
- Body region
- Shoulder
- Actuation
- Active
- Study design
- Assisted (POF- and IMU-sensed control) vs. unassisted, lifting/carrying/lowering; plus test-bench step/chirp characterization
- Outcomes
- Muscle activity (EMG), Kinematics
This record is part of the exoskeleton collection.
Cite
Cite the dataset as its authors request (check the source page for an official citation); this BibTeX is a convenience starting point.
@misc{arciniegas-pof-upper-limb-exo,
author = {Arciniegas-Mayag, L.J. and Silva, P. and Cifuentes, C.A. and Segatto, M.E.V. and Diaz, C.A.R.},
title = {{POF-Sensed Upper-Limb Exoskeleton: Kinematics, EMG and Controller Data}},
year = {2026},
doi = {10.6084/m9.figshare.31864330.v1},
url = {https://figshare.com/articles/dataset/Dataset_for_POF-Based_Sensing_in_an_Upper-Limb_Exoskeleton/31864330},
}