一种下肢康复训练机器人足底力检测方法

对下肢康复训练机器人来说，足底力是非常重要的生物力学参数，因为它不仅反映动态步行的稳定性，而且也是患者病态步态的反映，基于足底力反馈的下肢康复训练机器人步行稳定控制和柔顺控制等都需要对足底力进行检测．提出一种基于双变形梁的力／力矩传感器来检测足底力的方法，给出了传感器的结构，阐述了检测原理，建立了基于传感器信息计算足底力的数学模型．该方法可实现对足底力信息中重要的足底压力及压力中心点COP的检测，具有维间耦合小，结构简单，不易损坏，成本低等优点．

Method for measuring foot applied force in a lower limb rehabilitation training robot

Plantar Pressure is a very important biomechanical parameter in a lower limb rehabilitation training robot,as it reflects not only the patient's dynamic walking stability but also whether the gait is normal or not.Plantar Pressure measurements in real time are necessary for walking stability control and compliance control of lower limb rehabilitation training robot.To remedy defects in existing methods,a force/torque sensor based on a dual deformed beam is proposed.The structure and measurement principles are elucidated. And the mathematical model of calculating the plantar pressure is established by using data from the sensor.With this method,the magnitude of plantar pressure and the center of pressure can be determined without significant errors.The sensor is characterized by simple construction,weak coupling between dimensions,low cost and little damage.