Plantar pressure measuring device for wearable-type exoskeleton power-assisted robot
A plantar pressure and measuring device technology, which is applied to measuring devices, force/torque/work measuring instruments, instruments, etc., can solve the problems of low sampling frequency, large device size, and unsuitable wearable exoskeleton assisting robots in field scenarios.
Inactive Publication Date: 2019-01-01
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology
[0003] Existing plantar pressure measurement devices are mostly used in medical and health care, suitable for bare feet measurement, and the sampling frequency is low and the device is large in size, so it is not suitable for experimenting with wearable exoskeleton-assisted robots in the wild
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Embodiment Construction
[0019] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:
[0020] A plantar pressure measurement device for a wearable exoskeleton power-assisted robot, such as figure 1 As shown, from bottom to top is the four-layer structure of the bottom rubber layer 1, the bottom metal layer 2, the middle device layer 3 and the top metal layer 4;
[0021] Wherein, the bottom rubber layer is made of wear-resistant rubber, directly contacts with the ground, plays the role of cushioning and shock absorption and increasing friction.
[0022] Among them, the bottom metal layer such as figure 2 As shown, it is made of aluminum alloy material, and a spherical hinge 5 is fixed on one side of the heel area of the foot, and is connected with the lower leg through the spherical hinge 5, leaving a certain amount of activity in three degrees of freedom of rotation. It is used to bear the weight of the wearable exoskeleton powe...
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The invention relates to a plantar pressure measuring device for a wearable-type exoskeleton power-assisted robot, and the device is characterized in that the device is of a four-layer structure whichsequentially comprises a bottom rubber layer, a bottom metal layer, a central device and a top metal layer from the bottom to the top; one side of a plantar heel region of the bottom metal layer is fixedly provided with a spherical hinge, and is connected with a spherical hinge; the central device comprises three special-shaped air bags and three gas sensors which are respectively connected withthe three special-shaped air bags, and is divided into three metal plates which are in flexible connection, wherein the metal plates are located in three main stress regions of a pelma. The device canquickly and accurately measure the plantar pressure of the wearable-type exoskeleton power-assisted robot.
Description
technical field [0001] The invention belongs to the technical field of plantar pressure measurement of robots, and relates to plantar pressure sensor arrangement and data collection and processing of robots, in particular to a plantar pressure measuring device for a wearable exoskeleton power-assisted robot. Background technique [0002] At present, in areas where motorized vehicles cannot reach, such as mountains, alpine regions, and jungles, individual soldiers need to carry materials, weapons and equipment for reconnaissance, patrol, rescue and combat missions. , The geographical scope of the marching investigation is relatively small. Wearable exoskeleton-assisted robots can greatly improve the ability of individual soldiers in material handling, rescue and ambulance, mobile investigation and weapon combat, and the soles of the feet are the only places where wearable exoskeleton-assisted robots are in contact with the ground. The bottom pressure can provide data for the...
Claims
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IPC IPC(8): G01L5/00
CPCG01L5/00
Inventor 刁彦飞韩瑞雪李彬高志宇金琛
Owner TIANJIN NAVIGATION INSTR RES INST