| 外骨骼足端人机接触力测量装置研究 |
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| 引用本文： | 邓 静 ,姜文正 ,高海波 ,丘世因 ,李满天 ,查富生 .外骨骼足端人机接触力测量装置研究[J].机械与电子,2022,0(9):65-70. |
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| 作者姓名： | 邓 静 姜文正 高海波 丘世因 李满天 查富生 |
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| 作者单位： | 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 |
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| 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。
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| 关 键 词： | 外骨骼 足端接触力 测量装置 |
Research on Human-machine Foot Contact Force Measuring Device for Exoskeleton Robot |
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| DENG Jing,JIANG Wenzheng,GAO Haibo ,QIU Shiyin,LI Mantian,ZHA Fusheng.Research on Human-machine Foot Contact Force Measuring Device for Exoskeleton Robot[J].Machinery & Electronics,2022,0(9):65-70. |
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| Authors: | DENG Jing JIANG Wenzheng GAO Haibo QIU Shiyin LI Mantian ZHA Fusheng |
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| Affiliation: | ( 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 ) |
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| 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. |
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| Keywords: | exoskeleton robot foot contact force force measurement device |
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