中文摘要：

为实现对骨骼服的控制，需要确定人体正常步行时脚底压力载荷分布情况，为此研制了一套可靠耐用的骨骼服传感靴．通过分析比较现有各种测力鞋垫系统，提出一种只需在传感靴底部的适当位置放置3个压力传感器就可以准确测量步态压力且性能更可靠的结构优化方案．试验结果表明，优化后的传感靴可以更快速准确地测量出不同步态时的脚底压力，有效提高外骨骼跟踪响应速度，可用于外骨骼机器人系统和改进控制算法设计．

英文摘要：

In order to realize the control of exoskeleton, the distribution of the plantar pressure when people are in normal gait is required, due to which a durable and reliable exoskeleton foot is developed. By analyzing the existing ergometer-insole systems, a more reliable optimized scheme of putting three sensors on the proper positions was presented to measure the gait pressure accurately. The results of experiments show that the measurement of the plantar pressure in different gaits is more rapid and more accurate when wearing the boot and the tracking ability of the exoskeleton system is enhanced greatly. The conclusion can be used as a reference to guide the design and improved control of exoskeleton robots.