Research on multi-sensors perceptual system of wearable power assist leg based on interaction force signal and joint angle signal

摘要

In order to gain the interactive movement information of a human-robot system for the aim of estimating the operator's intentions and realizing to provide enough assistive power for the operator to amplify the strength and endurance of the human leg,the theoretical analysis and the technical realization of the perceptual system of the wearable power assist leg(WPAL) were carried on.A set of multi-sensor perceptual systems for gaining contact force information and joint angle information were designed based on the analysis of the need for interactive information to control the WPAL system.The multi-sensor perceptual system included the leg reaction force(LRF) sensors,the ground reaction force(GRF) sensors and the joint angle sensors measuring the joint angle of WPAL.The related experiment results indicate that the performance of the multi-sensor perceptual system is stable and provides a safeguard for the control of the WPAL system