| 可穿戴型下肢助力机器人感知系统研究 |
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| 引用本文： | 孙建,余永,葛运建,陈峰.可穿戴型下肢助力机器人感知系统研究[J].微纳电子技术,2007(Z1). |
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| 作者姓名： | 孙建 余永 葛运建 陈峰 |
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| 作者单位： | 中科院合肥智能机械研究所，中科院合肥智能机械研究所，中国科技大学自动化系，中科院合肥智能机械研究所 合肥230031，中国科技大学自动化系，合肥230027，合肥230031，日本鹿尔岛大学机械工程系，鹿尔岛890-0065，合肥230027，合肥230031，中国科技大学自动化系，合肥230027 |
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| 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。
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| 关 键 词： | 助力机器人 服务机器人 CAN总线 |
Research on Sensing Systems of Wearable Power Assist Leg |
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| SUN Jian,YU Yong,GE Yun-jian,GHEN Feng.Research on Sensing Systems of Wearable Power Assist Leg[J].Micronanoelectronic Technology,2007(Z1). |
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| Authors: | SUN Jian YU Yong GE Yun-jian GHEN Feng |
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| Affiliation: | SUN Jian1,2,YU Yong1,3,GE Yun-jian2,GHEN Feng1,2 |
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| Abstract: | 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. |
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| Keywords: | power assist robot service robot CAN-bus |
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