下肢外骨骼助力机器人控制系统研究

依据下肢外骨骼助力机器人的控制要求,以固高GUC-T运动控制器为核心搭建控制系统平台。采用压力传感器检测足底压力信息,利用编码器对关节角度进行检测,以前后脚底压力差实现其步态相位划分,通过运动控制器DSP部分将步态信息发送给固高运动控制器,从而实现对下肢外骨骼助力机器人的运动控制。

Study in Control System of Lower Extremity Exoskeleton Power-assisted Robot

According to the control requirements of lower extremity exoskeleton power-assisted robot, googol GUC-T motion controller is used as motion control core to build the control system platform. Using pressure sensors to collect plantar pressure and encoders to detect joints angle, thus gait division was realized by the pressure difference between forefoot and heel. Then digital signal processor (DSP) of the gait information is sent to googol motion controller to achieve the motion control of the robot.