面向下肢助力外骨骼的脚底测力系统研究
发布时间：2018-11-03 16:25
【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。
[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.
【作者单位】： 南京工程学院机械学院;
【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
【分类号】：TP212.9;TP242
[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.
【作者单位】： 南京工程学院机械学院;
【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
【分类号】：TP212.9;TP242
【相似文献】
相关期刊论文 前5条
1 干蜀毅;张永标;陈振声;;多功能全自动微机测力系统[J];机械与电子;1989年01期
2 肖e，
本文编号：2308308
本文链接：https://www.wllwen.com/kejilunwen/zidonghuakongzhilunwen/2308308.html
