Man-machine one-dimensional interaction force measurement sensor and measurement method for lower limb exoskeleton

Abstract

The invention relates to a man-machine one-dimensional interaction force measurement sensor for a lower limb exoskeleton. The sensor comprises a fixed part, a movable part matched with the fixed partand a film pressure sensor, the fixed part is fixed on a thigh plate of the exoskeleton; the movable part is fixed on a thigh binding protector; when the human legs move relative to the thigh plate ofthe exoskeleton, the thin film pressure sensors fixed on the two sides of the fixed part convert pure pressure into comparison signals of the pressure measured by the two thin film pressure sensors,so that the man-machine one-dimensional interaction force measurement sensor can measure one-dimensional tension and pressure. Moreover, because the film pressure sensor is small in size and low in cost, the man-machine one-dimensional interaction force measurement sensor and the fixed part and the movable part which are matched with the film pressure sensor are simple in structure, so that the whole man-machine one-dimensional interaction force measurement sensor is small in size, convenient to integrate, easy to process and low in cost. The invention further provides a measurement method ofthe measurement sensor.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a human-computer one-dimensional interactive force measurement sensor for lower limb exoskeleton. Background technique [0002] The lower extremity exoskeleton is a wearable robot, which has the functions of providing motion assistance and supporting weight for the human body, assisting the disabled to walk, and providing portable muscle training for stroke patients. It has a wide range of applications in the fields of military, medical rehabilitation, and industrial assistance. Application prospects. The control of an exoskeleton robot usually needs to measure the interaction force exerted by the human body on the exoskeleton. Usually, the exoskeleton and the human leg are connected by a binding mechanism. In order to collect the human-computer interaction force, a force sensor can be connected in series between the binding mechanism and the exoskeleton. The interact...

AI Technical Summary

Problems solved by technology

[0003] However, the one-dimensional force sensor in the prior art can only bear pressure or can only bear tension

However, in the prior art, sensors capable of detecting tension and pressure have high processing precision, high manufacturing cost, or large volume and are difficult to integrate into binding mechanisms that require a small volume.

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