Structure optimization analysis for exoskeleton foot

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.