中文摘要：

为了获取人机交互中的人体下肢运动信息,针对目前可穿戴助力机器人中感知系统可靠性差,信息特征模糊等缺点,在分析了机器人控制系统所需的交互信息的基础上,设计了一种适用于助力机器人的柔性双足压力信息采集与处理系统。该系统由前端的信息采集装置与终端的信号处理单元两部分组成,可以实时测量使用者行走过程中足底压力分布信息。相关实验结果表明,所设计的系统性能稳定,响应迅速,测得的数据信息特征明显,重复性好,能够较好的划分人体行走过程中的步态相位,为实现可穿戴助力机器人控制提供了保障。

英文摘要：

In order to gain the movement intentions of human lower extremity on the human-machine interaction,according to low reliability and fuzzy information characteristics of the perceptual system of the wearable assist robot,a flexible biped plantar pressure measurement and processing system suitable for robot is proposed,which is based on the analysis of the need for interactive information to control the assist robot.The system is composed of the information acquisition device and the information processing unit and can help users measure the plantar pressure distribution information during walking process.The related experiment results indicate that the performance of the system is stable and has fast response.The measured data has obvious features and good reproducibility,which can divide human walking gait phase and provide a safeguard for the control of the robot system.