Research On Plantar Pressure Measurement Sensing System Of Biped Robot

The value and distribution of plantar pressure are important parameters in thewalking motion of biped robot. Because of the complexity of the groundenvironment, it is difficult to calculate indirectly the value and distribution of theplanter pressure with the parameters of the robot body. To solve the problem, aplantar pressure insole with which the value and distribution of plantar pressurecould be measured was developed.Firstly, the plantar pressure sensing system noumenon and its signal processorhardware circuit were developed and designed. The noumenon of the plantarpressure sensing system was acquired through adhering some thin film pressuresensors to normal sports shoes; then the signal processor was designed, the signalprocessor consists of a single-chip microcomputer and the basic peripheral circuit,data acquisition circuit and communication circuit. The filter capacitor andelectromagnetic shielding were added to deal with the noise reduction, so sensingsystem can effectively collect plantar pressure signal.Secondly, the data processing of measuring sensor system was studied. Themapping matrix between various voltage signals collected from AD module andexporting plantar pressure information was built. The corresponding softwareprogram in the insole controller was written to collect the foot plantar pressureinformation with which the value and location of the plantar pressure was calculated,and the calculated results were transformed to the controller through the serial ports.With the help of dynamometry platform system, the plantar pressure insole wasverified, the reason of plantar pressure error acquired from sensing system wasanalyzed.Finally, the application of the pressure sensing system in biped robot wasstudied. The plantar pressure communication rules between the pressure sensingsystem and the robot controller was programmed, the application of plantarpressure insole in the biped robot was also analyzed, then the measuring sensorsystem was used to calculate the speed of human body, the experiment of walk cyclestate induction and balance identification were verified..