【摘要】：要實(shí)現(xiàn)下肢助力外骨骼機(jī)械腿對(duì)穿戴者的運(yùn)動(dòng)跟隨及有效助力,通過(guò)檢測(cè)穿戴者腳底力變化信息進(jìn)行運(yùn)動(dòng)意圖識(shí)別是非常關(guān)鍵的環(huán)節(jié)。針對(duì)下肢助力外骨骼機(jī)器人的控制需求,提出了一種鞋墊式腳底測(cè)力系統(tǒng)。進(jìn)行了腳底測(cè)力系統(tǒng)本體設(shè)計(jì)及傳感器信號(hào)調(diào)理電路的設(shè)計(jì),并進(jìn)行了腳底測(cè)力系統(tǒng)的實(shí)驗(yàn)研究。設(shè)計(jì)出的腳底測(cè)力系統(tǒng)應(yīng)用于下肢助力外骨骼機(jī)械腿控制中,實(shí)驗(yàn)結(jié)果表明,腳底測(cè)力系統(tǒng)檢測(cè)出的足底壓力變化信息能很好的實(shí)現(xiàn)外骨骼機(jī)械腿的控制。
[Abstract]:In order to realize the movement following and effective aid of the lower limb assisted exoskeleton mechanical leg, it is very important to recognize the motion intention by detecting the change information of the wearer's foot force. According to the control requirement of lower limb assisted exoskeleton robot, a kind of insole force measuring system is proposed. The body design of the foot force measurement system and the design of the sensor signal conditioning circuit are carried out, and the experimental study of the foot bottom force measurement system is carried out. The designed foot floor force measuring system is applied to the control of the lower extremity assisted exoskeleton mechanical leg. The experimental results show that the foot sole pressure change information detected by the foot bottom force measurement system can well realize the exoskeleton mechanical leg control.
【作者單位】： 南京工程學(xué)院機(jī)械學(xué)院;
【基金】：國(guó)家自然科學(xué)基金青年基金項(xiàng)目(51205182) 江蘇省自然科學(xué)基金青年基金項(xiàng)目(BK2012474) 南京工程學(xué)院2016年挑戰(zhàn)杯支撐項(xiàng)目(TZ201617002) 機(jī)械工程學(xué)院省級(jí)重點(diǎn)建設(shè)學(xué)科開(kāi)放課題項(xiàng)目(JXKJ201510)資助
【分類(lèi)號(hào)】：TP212.9;TP242

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