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A plantar pressure measuring device and method for exoskeleton control

A measuring device and a technology for plantar pressure, applied in the direction of program control manipulator, diagnostic recording/measurement, application, etc., can solve the problems of large data processing volume, inconvenient wearing, low sampling rate, etc., achieve simple algorithm and avoid complex processing , the effect of simple structure

Active Publication Date: 2018-10-12
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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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

Method used

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  • A plantar pressure measuring device and method for exoskeleton control
  • A plantar pressure measuring device and method for exoskeleton control
  • A plantar pressure measuring device and method for exoskeleton control

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Embodiment Construction

[0027] Further describe the technical scheme of the present invention in detail below in conjunction with accompanying drawing:

[0028] A plantar pressure measurement device for exoskeleton control, including a pressure shoe for the measurement device, four pieces of pressure sensors 202 are respectively arranged on the inside of the pressure shoe of the measurement device corresponding to the metatarsal bone and the talus, and the pressure sensor 202 is A weak electrical signal is generated, and the central processing unit collects and processes the weak voltage signal; the processing includes calculating the center of gravity position and changes of the exoskeleton by using the zero moment point, and then calculating the position of the exoskeleton when standing and walking. Divide different modes: Subdivide the static standing mode into two-foot support, left-foot support and right-foot support modes; subdivide the walking mode into walking with the left leg and walking wit...

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Abstract

The invention discloses a plantar pressure measuring device and method for exoskeleton control. The device includes a measuring device pressure shoe, and the inside of the measuring device pressure shoe is respectively provided with four pieces of pressure sensors ( 202), the pressure sensor (202) generates a weak electrical signal, and the central processing unit collects and processes the weak voltage signal; corresponding to different modes of different pressure sensor data, different weights are used to measure the exoskeleton foot Bottom pressure. The present invention uses four thin-film pressure sensors on the soles of the feet to collect the pressure of the main stress-bearing parts of the soles of the exoskeleton, avoids the use of a large number of sensors, has a simple structure, and is low in cost; different modes for the wearer to stand and walk when wearing the exoskeleton Divide and process data differently in different modes. The algorithm is simple, which avoids complex data processing when using a large number of sensors, and improves the data processing speed.

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 robot technology, robots are becoming more and more intelligent. Exoskeleton robots are highly intelligent equipment that can provide powerful "physical strength" for humans. In the field of rehabilitation medicine, exoskeleton robots can help paraplegic patients perform walking training. , Delay muscle atrophy, and through training and rehabilitation, exoskeleton can help patients walk like normal people, bringing great convenience to paraplegic patients and allowing them to stand up again. In other respects, exoskeletons also have broad application prospects, such as firefighting, earthquake relief, etc. The foot of the exoskeleton is the carrier for the interaction between the exoskeleton and the environment. The plantar pressure can reflect the running state of the exoskeleton system. By ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B5/103A61H3/00B25J9/00
CPCA61B5/1038A61B5/6829A61B5/72A61H3/00A61H2201/0157A61H2201/165A61H2201/50A61H2201/5071B25J9/0006
Inventor 邱静邓清龙岳春峰林西川郑晓娟陈晔
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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