Design And Implementation Of Plantar Pressure Measurement And Sensing System Based On ZigBee

The information of plantar pressure distribution of bipedal robot is very important to the gait stability of the robot.However,because the gait environment and the overall structure of the biped robot are very complicated,the indirect calculation of plantar pressure information through the measurement data of the bipedal robot body is very important.Difficulties,and the direct price measurement using a six-axis force sensor is very expensive.Therefore,this article designs a plantar pressure measurement sensing system that can directly detect the plantar pressure and force point of the bipedal robot.It not only can effectively measure the plantar pressure information,but also can save money.Firstly,the sensor data acquisition subsystem of the plantar pressure measurement system is designed.The sensor data acquisition subsystem consists of multiple thin film pressure sensors distributed on the foot of the robot.The sensor signal conversion circuit and signal acquisition circuit and the power supply circuit of the system are designed.In the hardware circuit,the low-pass filter circuit is added to perform noise reduction processing on the collected signals to ensure the accuracy of the collected signals.Second,the procedure of the plantar pressure sensing system was designed.Zig Bee is composed of a star network,and then the data AD acquisition program and wireless transmission program of the Zig Bee terminal equipment node are prepared to realize data collection and wireless transmission,and the data reception processing of the Zig Bee coordinator node is realized and sent to the upper computer through the serial port.Program to receive and send data.Finally,an experimental verification of the plantar pressure measurement sensing system was performed on a biped robot.The GUI visual interface was designed by MATLAB,and the corresponding upper computer program was written to realize the realtime display and visualization of pressure data.According to the collected pressure information,the gait cycle of the biped robot was identified and the zero-moment point of the biped robot was calculated(ZMP)to determine the gait stability of biped robots.