下肢外骨骼机器人足底压力感知系统设计研究  

Design and Research of Plantar Pressure Sensing System for Lower Limb Exoskeleton Robot

作　　者：方略 袁德宇 何洪军[1] 高旭 FANG Lue;YUAN Deyu;HE Hongjun;GAO Xu(The 21st Research Institute of China Electronics Technology Group Corporation,Shanghai 200233,China)

机构地区：[1]中国电子科技集团公司第二十一研究所,上海200233

出　　处：《自动化仪表》2021年第8期13-16,共4页Process Automation Instrumentation

基　　金：中国电子科技集团公司第二十一研究所基金资助项目(20G02)。

摘　　要：针对下肢外骨骼机器人控制的实时采集和监测足底压力信号的需求,研制了一款下肢外骨骼机器人足底压力感知系统。该系统以TMS320F2812为核心控制芯片,构建A/D采样外围电路,通过该电路实现模拟压力信号到数字信号的转换。基于MAX3232芯片,设计了RS-232通信接口电路;基于LabVIEW14.0开发了足底压力信息实时监测界面,将得到的压力数字量信息通过RS-232串行接口电路传递给上位机软件监测界面,从而实现对足底压力信息的实时监测。硬件电路连接完成后,对足底压力信息实时监测界面中的串口通信的波特率、数据格式、停止位、奇偶校验位等信息进行配置。配置完成后,运行程序,给足底压力传感器受力区域施加作用力,实时观察上位机监测界面。试验表明,该系统在下肢外骨骼机器人控制中能够实时、准确地采集足底压力信息,并且实时监测足底压力信息的动态响应。In response to the demand for real-time acquisition and monitoring of plantar pressure signals required for the control of the lower limb exoskeleton robot,a plantar pressure sensing system for lower limb exoskeleton robot is developed.TMS320F2812 is used as central control chip in the system.An A/D sampling peripheral circuit is constructed to realize the conversion of analog pressure signals to digital signals.Based on the MAX3232 chip,the RS-232 communication interface circuit is designed.And real-time monitoring interface of the plantar pressure information is developed and compiled based on LabVIEW 14.0.The obtained pressure digital information is transmitted to the upper computer software monitoring interface through the RS-232 serial interface circuit to realize the real-time monitoring of the plantar pressure information.After the hardware circuit connection completed,the baudrate,data format,stop bit,parity bit and other information of the serial port communication in real-time monitoring interface of the plantar pressure information are configured.When the configuration is completed,run the program and apply force on the stress area of the plantar pressure sensor,and observe the monitoring interface in the host computer.It is shown in experiments that in the control of the lower limb exoskeleton robot,the system can accurately collect plantar pressure information and monitor the dynamic response of plantar pressure information in real time.

关 键 词：下肢外骨骼机器人 TMS320F2812 薄膜压力传感器 串口通信 LabVIEW 

分 类 号：TH-3[机械工程]