作　　者： (杜肖肖）; (双丰）; (张鹏）;

机构地区： 中国科学院合肥智能机械研究所,安徽合肥230031

出　　处： 《仪表技术》 2017年第8期1-3,27,共4页

摘　　要： 为了实现可穿戴型下肢助力机器人行走过程中的步态识别,需要快速且稳定地获取足底压力数据信息。针对可穿戴型下肢助力机器人感知系统灵敏性能差、响应迟缓等缺点,结合实际应用,设计了一种系统结构更加简单优化,能够实时监测足底数据的信息采集与处理系统。该系统由足底信息采集模块与信号处理模块两部分组成,通过无线传输,可以实时监测和反馈人体行走过程中足底压力分布信息。实验结果表明,系统测试的数据符合人体行走运动中足底压力变化的规律,所设计的采集系统可以实时监测人体足底压力的信息,满足信息采集要求,为后续的控制算法验证提供有效数据。 To identify the gait of the lower extremity exoskeletonduring walking progress,the information ofplantar pressure should be obtained with high precision and reliability. According to low sensitivity and slow response characteristics of the plantar pressure of the lower extremity exoskeleton,a kind of information acquisition and processing system with more simple and optimized structure which can real-time monitor plantar data is designedin combination with practical application. The system consists of the plantar information acquisition device and the signal processing unit,and can help users measure the plantar pressure information during walking process through the wireless transmission. The experimental results show that the measured datacan conform to the law of human walking plantar pressure,so the designed system can monitor the information of plantar pressure in real time,and provideeffective data for the robot control system.

关 键 词： 可穿戴型下肢助力机器人 足底压力 实时监测 应用