CIP-Ⅰ智能仿生人工腿步速测量系统研究与设计  

Study and Design of Walking Speed Measurement System of CIP-Ⅰ Intelligent Bionic Artificial Leg

作　　者：谭冠政[1] 何胜军[1] 曾庆冬[1] 闰炳雷[1] 蔡光超[1] 

机构地区：[1]中南大学 信息科学与工程学院,湖南长沙410083

出　　处：《计算机测量与控制》2005年第11期1164-1166,1185,共4页Computer Measurement &Control

基　　金：国家自然科学基金(50275150)教育部博士点基金(RL200002)

摘　　要：CIP-Ⅰ Leg是国内首个智能仿生人工腿原型机，首先介绍了CIP-Ⅰ Leg的基本结构，然后重点介绍了该人工腿步速测量系统的设计方案，包括步速调整原理、控制系统结构、针阀开度值的设置方法以及步速测量系统硬件和软件设计等；提出了一种新的步速测量方法，即通过测量人工腿一个完整的步行周期，用步行周期的长短来反映步行速度的快慢；实验结果表明，所设计的步速测量系统精度高，实时性好，功耗低，能非常可靠地检测出CIP-Ⅰ Leg的步行速度。CIP - I Leg is the first prototype of intelligent bionic artificial leg designed by Chinese researchers. The basic structure of CIP - I Leg is introduced. Then, its walking speed measurement scheme is expatiated in detail, including the walking speed adjustment principle, the control system structure, the method for opening setting of the throttle valve, and the hardware and software design of the system. A new measurement method for the walking speed is proposed, that is, to measure the time that the leg takes during a walking period. Apparently, this time can reflect the walking speed. The result of experiments indicated that this walking speed measurement system has high accuracy, low energy consumption, and good real - time characteristic, and is reliable to measuring the walking speed of CIP - I Leg.

关 键 词：CIP—I LEG 步速测量 步行周期 霍尔传感器 MSP430F149微处理器 实时检测 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]