摘要
对国内首个智能仿生人工腿原型机CIP-I Leg的基本结构及工作原理进行简要的介绍,接着介绍了智能人工腿摆动相模糊控制系统的整体设计方案;文中对健康腿的步态从单足和双足两个角度进行分析,提出基于人工腿的步态识别方案,并详细介绍了人工腿步态识别的具体实现方法;步态信息通过膝关节处的霍尔传感器和脚底的压力传感器获取,并给出了霍尔传感器和压力传感器的信号的硬件处理电路及软件流程图;实验结果表明,系统能够可靠地检测出步态相位信息,并取得了预期的效果。
The basic structure and work principle of the first intelligent bionic artificial leg prototype CIP--I designed by Chinese re- searchers are introduced in brief, then the design scheme of the artificial leg＇s swing phase control system is introduced, fuzzy control is used and in the course of the design. Gait of sound legs is analyzed from the view of single--leg and double--leg in detail, and then the design of gait identification system is proposed in detail. Gait information is gained from the Hall sensor in the knee joint and the force sensor under the prosthetic foot. Signal processing circuit and flow chart are given for sampling signals from Hall sensor and force sensor in the end. The result of experiments indicated that the system can detect the information of Gait phase reliably and the expectant purpose is achieved.
出处
《计算机测量与控制》
CSCD
2007年第10期1315-1318,共4页
Computer Measurement &Control
基金
国家自然科学基金(50275150)
高等学校博士学科点专项科研基金(20040533035)
