中文摘要：

为了从人机系统的交互运动信息获取人体下肢的运动意图，从而实现为操作者提供助力的目的，对可穿戴型下肢助力机器人感知系统进行了理论分析和技术实现．在分析整个机器人系统控制所需要的交互信息的基础上，设计了一套基于接触力信息和关节角度信息的多传感器感知系统．该系统主要包括获取腿部接触力传感器、地面反力传感器以及用于获取外骨骼机器人关节运动信息的电机编码器等．相关实验结果表明，所设计的多传感器感知系统性能稳定、实时性好，为可穿戴型下肢助力机器人目标的实现提供了保障．

英文摘要：

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