Design of the force-sensors system of WPAL

Author

Sun, Jian ; Chen, Feng ; Wu, Bao Yuan ; Deng, Xiao Hong ; Yu, Yong ; Ge, Yun Jian

Author_Institution

Inst. of Intell. Machines, Chinese Acad. of Sci., Hefei

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1321

Lastpage

1326

Abstract

The Wearable Power Assist Leg(WPAL) in Feng Chen, et al, (2007) is designed for normal human power augmentation during walking. In this paper, the Force-sensors system of the WPAL has been theoretically analyzed and technically realized in order to gain the interactive movement information of 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 human leg. After analyzing the necessary interactive information which is used to control the WPAL system, the Force-sensor system has been designed to include the leg reaction force (LRF) sensors, the ground reaction force (GRF) sensors, and the joint angle sensors measuring the joint angles of WPAL for gaining the contact force information and the joint information of the human-robot system. The experiment results showed that the multi-sensor perceptual system performed stably and provided the safeguard for the control of the WPAL.

Keywords

biomechanics; force sensors; handicapped aids; human computer interaction; humanoid robots; legged locomotion; medical control systems; WPAL; force-sensors system; ground reaction force sensors; human power augmentation; human-robot system; interactive movement information; joint angle sensors; leg reaction force sensors; multisensor perceptual system; wearable power assist leg; Control systems; Force control; Force measurement; Force sensors; Gain measurement; Humans; Information analysis; Leg; Legged locomotion; Sensor systems; CANBUS; The Rehabilitation Robot; WPAL;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522355

Filename

4522355