Plantar pressure measuring device and method for exoskeleton control

Abstract

The invention discloses a plantar pressure measuring device and method for exoskeleton control. The device comprises a measuring device pressure shoe; four pressure sensors (202) are arranged inside the measuring device pressure shoe respectively at positions corresponding to metatarsal bones and ankle bones and generate micro weak electrical signals; a central processing unit acquires and processes the micro weak electrical signals; exoskeleton plantar pressure is measured by adopting a method of different weights aiming at different pressure sensor data in different modes. The plantar pressure measuring device and method disclosed by the invention have the benefits that the exoskeleton plantar pressure at a main forced part is acquired by utilizing the four thin film pressure sensors at a sole, so that the use of a large amount of sensors is avoided, the structure is simple, and the cost is low; the different modes when a wearer wear exoskeletons to stand and walk are divided, different processing is performed aiming at the data in the different modes, an algorithm is simple, the complicated processing of the data when a large amount of sensors are used is avoided, and the processing speed of the data is improved.

Description

Technical field [0001] The invention relates to a plantar pressure measuring device and method for exoskeleton control. Background technique [0002] With the continuous development of robotics technology, robots are becoming more and more intelligent. Exoskeleton robots are highly intelligent equipment that can provide humans with strong "stamina". In the field of rehabilitation medicine, exoskeleton robots can help paraplegic patients with walking training. , Delay muscle atrophy, through training and rehabilitation, exoskeleton can help patients to walk like normal people, bringing great convenience to paraplegics, allowing them to stand up again. In other aspects, exoskeleton also has broad application prospects, such as fire fighting, earthquake relief, etc. The exoskeleton foot is the carrier of the interaction between the exoskeleton and the environment. The plantar pressure can reflect the operating state of the exoskeleton system. By measuring the plantar pressure of th...

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Problems solved by technology

However, this patent also has some shortcomings: (1) The sensor array is composed of 200 pressure sensors, which has a large amount of data processing and a low sampling rate; (2) The device is flat, bulky, relatively bulky, and inconvenient to wear , not suitable for collecting exoskeleton robot plantar pressure as real-time control information

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