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为了实现可穿戴型下肢助力机器人行走过程中的步态识别,需要快速且稳定地获取足底压力数据信息。针对可穿戴型下肢助力机器人感知系统灵敏性能差、响应迟缓等缺点,结合实际应用,设计了一种系统结构更加简单优化,能够实时监测足底数据的信息采集与处理系统。该系统由足底信息采集模块与信号处理模块两部分组成,通过无线传输,可以实时监测和反馈人体行走过程中足底压力分布信息。实验结果表明,系统测试的数据符合人体行走运动中足底压力变化的规律,所设计的采集系统可以实时监测人体足底压力的信息,满足信息采集要求,为后续的控制算法验证提供有效数据。
In order to realize the gait recognition during walking of the wearable lower limb assist robots, it is necessary to obtain the plantar pressure data information quickly and stably. Aiming at the weak sensitivity and slow response of the wearable lower limbs aided robotic sensing system, an information acquisition and processing system with simpler system structure optimization and real-time monitoring of plantar data was designed. The system consists of a plantar information acquisition module and a signal processing module. The system can monitor and feedback the plantar pressure distribution information in real time through wireless transmission. The experimental results show that the system test data comply with the law of plantar pressure changes during walking. The designed acquisition system can monitor the information of human plantar pressure in real time to meet the requirements of information collection and provide valid data for subsequent control algorithm validation.