可穿戴下肢外骨骼足底压力检测系统设计与研究

Design Research on the Plantar Pressure Detecting System for Wearable Lower Limb Exoskeleton Robot

摘要:

可穿戴下肢外骨骼能够柔性跟随人体运动的前提是足底压力检测数据符合人体步态特征,因此研究外骨骼足底压力检测系统具有重要意义。针对现有穿戴式下肢外骨骼系统压力传感器输入输出存在非线性误差,不能准确检测足底压力变化的缺点,选择电阻式压力传感器,通过理论计算确定曲线拟合方法可行性,并将曲线拟合方法引入足底压力检测系统设计中。研究结果表明,该方式采集数据特征明显,曲线拟合的系统线性度较小,可靠性高,适用足底压力检测系统。

Abstract:

The Wearable Lower Limb Exoskeleton can follow flexible human motion detection data of plantar pressure with human gait feature, so the study of exoskeleton plantar pressure detection system has important significance. There are some nonlinear errors in the input and output of the pressure sensor in the wearable external skeletal system, which can not accurately detect the change of the plantar pressure, Choose resistance type pressure sensor, through the theoretical calculation to determine the curve fitting method is feasible, and the curve fitting method is introduced into the design of the plantar pressure detection system. The research results show that this method has obvious characteristics of the data acquisition, the curve fitting of the system is small, the reliability is high, and it is applicable to the plantar pressure detection system.