Measurement System for Plantar Pressure of Biped Exoskeleton Robot

摘要

To identify the gait of exoskeleton robot in walking,the information of plantar pressure should be obtained with high precision and reliability.A miniature structure of spoke sensor with high sensitivity is presented,which can avoid being influenced by offset load.Considering the extremely weak sensor signal,A pre-amplification circuit based on chopper-stabilized technology is designed and produced.By the constant current power supplying,sensor's nonlinear error caused by temperature is maximally reduced.Measurement system is based on PC controller,and it allows multi-channel to be sampled simultaneously with high precision.It has been shown by experimentation that the noise of final signal output is less than 3 mV P-P,and Zero Drift is almost nonexistent.This design can be applied to instrument signal conditioning.