摘要
要实现下肢助力外骨骼机械腿对穿戴者的运动跟随及有效助力,通过检测穿戴者脚底力变化信息进行运动意图识别是非常关键的环节。针对下肢助力外骨骼机器人的控制需求,提出了一种鞋垫式脚底测力系统。进行了脚底测力系统本体设计及传感器信号调理电路的设计,并进行了脚底测力系统的实验研究。设计出的脚底测力系统应用于下肢助力外骨骼机械腿控制中,实验结果表明,脚底测力系统检测出的足底压力变化信息能很好的实现外骨骼机械腿的控制。
The foot measurement of wearer and motion recognition are very important for the lower limb powerassisted exoskeleton to follow the motion of the wearer and provide power. A insole foot force measuring system was proposed for the control of exoskeleton robot. The measuring system and signal conditioning circuit were designed, and walking experiments for foot force measuring system were implemented. The foot force measuring system was applied to the control of lower limb power-assisted exoskeleton. The results showed that the foot force data which outputted by measuring system can realize the motion control of exoskeleton leg.
出处
《机械科学与技术》
CSCD
北大核心
2017年第6期919-924,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金青年基金项目(51205182)
江苏省自然科学基金青年基金项目(BK2012474)
南京工程学院2016年挑战杯支撑项目(TZ201617002)
机械工程学院省级重点建设学科开放课题项目(JXKJ201510)资助
关键词
传感器
足底压力
脚底测力系统
助力外骨骼
sensor
foot pressure
foot measuring system
power-assisted exoskeleton
