摘要
在分析可穿戴型下肢助力机器人所需要的控制信息的基础上,设计了一套基于CAN总线的人体下肢运动信息感知系统。该系统主要包括可获取人体腿部和脚底状态的力传感器和获取髋关节和踝关节角度信息的编码器。实验结果表明,所设计的多传感器系统稳定,实时性好,满足可穿戴型下肢助力机器人系统控制的需要。
A multi-sensor system was proposed after analyzing of the wearable power assist leg performance. The system includes force sensors and encoders, and all sensors were designed based on CAN-bus. The force sensors were designed for detecting the interaction information between the wearable power assist leg and person. And the encoders were designed for acquiring the position information of person knee and hip. The experiment results show that the designed system is stability and acute, and the effectiveness of the multi-sensor system.
出处
《微纳电子技术》
CAS
2007年第7期353-357,共5页
Micronanoelectronic Technology
