[1]邓 静,姜文正,高海波,等.外骨骼足端人机接触力测量装置研究[J].机械与电子,2022,(09):65-70.
　DENG Jing,JIANG Wenzheng,GAO Haibo,et al.Research on Human-machine Foot Contact Force Measuring Device for Exoskeleton Robot[J].Machinery & Electronics,2022,(09):65-70.
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外骨骼足端人机接触力测量装置研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年09期
页码:
65-70
栏目:
智能工程
出版日期:
2022-09-27

文章信息/Info

Title:
Research on Human-machine Foot Contact Force Measuring Device for Exoskeleton Robot
作者:
邓 静 1 ; 姜文正 1 ; 高海波 2 ; 丘世因 4 ; 李满天 3 ; 查富生 2
1. 深圳航天科技创新研究院,广东 深圳, 518052 ; 2. 哈尔滨工业大学,黑龙江 哈尔滨, 150001 ; 3. 深圳航天龙海特智能装备有限公司,广东 深圳, 518052 ; 4. 天津大学医学工程与转化医学研究院,天津 300072
Author(s):
DENG Jing1 ;  JIANG Wenzheng1 ;  GAO Haibo2 ;  QIU Shiyin4 ;  LI Mantian3 ;  ZHA Fusheng2
( 1.Shenzhen Academy of Aerospace Technology , Shenzhen 518052 , China ; 2.Harbin Institute of Technology , Harbin 150001 , China ; 3.Shenzhen Long-HIT Intelligent Equipment Co. , Ltd. , Shenzhen 518052 , China ; 4.Academy of Medical Engineering and Translational Medicine , Tianjin University , Tianjin 300072 , China )
关键词:
外骨骼; 足端接触力; 测量装置
Keywords:
exoskeleton robot ;  foot contact force ;  force measurement device
文献标志码:
A
摘要:
下肢外骨骼机器人系统中,足端接触力的测量是人机交互运动控制的基础,针对设计上面临的足地接触状态复杂、趾关节挠曲运动、重量及尺寸空间限制等问题,提出基于分布式传感器布局,以及刚柔结合的足端人机接触力测量装置结构方案。采用 6 自由度全约束的人机连接方案实现与人足的可靠连接,通过多传感器布置方式来应对复杂的足端受力状况,采用刚柔结合的双层结构,结合多个运动副,解决传感器之间内应力问题,并实现顺应趾关节弯曲的需求,设计了高精度的供电及信号放大电路,并建立力平衡方程实现力信号的合成,最后开展了与三维力台的对比实验,验证了功能指标和测量精度符合设计需求。
Abstract:
In the lower limb exoskeleton robot system , the measurement of foot contact force is the basis of human-computer interactive motion control.Aiming at the design challenges , such as complex foot ground contact state , flexure movement of toe joint , weight and space constraints , the structure of the rigid flexible foot human-machine contact force measurement device based on distributed sensors is proposed. The 6-DOF fully constrained man-machine connection is adopted to realize a reliable connection with the human foot.The multi-sensor layout is used to deal with the complex stress condition at the foot end.The rigid-flexible double-layer structure and multiple motion pairs are adapted to release the internal stress between the sensors and to meet the needs of toe joints bending.A high-precision power supply and signal amplification circuit are designed , and the force balance equation is established to realize the synthesis of the force signal.Finally , the comparative experiment with a three-dimensional force platform is carried out to verify that the functional index and measurement accuracy meet the design requirements.

参考文献/References:

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更新日期/Last Update: 2022-10-26