摘要
针对目前人体行走步态难以划分的问题,笔者提出并设计一种基于STM32的测控系统,并将系统整体分为三级控制器,分别负责测量、执行命令和生成模型。电机控制参数使用SVM算法对足底压力分类,再使用状态机实现对踝关节的实时控制。该系统以STM32F407为核心,通过FSR测定足底压力,并通过ESP8266模块发送至上位机,再通过上位机的应用程序,实现相应步态的电机控制。
Aiming at the problem that it is difficult to divide the walking gait of human body,the author proposes and designs a measurement and control system based on STM32,and divides the system into three levels of controllers,which are responsible for measurement,command execution and model generation.SVM algorithm is used to classify the foot pressure and state machine is used to realize the real-time control of ankle joint.Stm32f407 is the core of the system.The plantar pressure is measured by FSR,and sent to the upper computer by esp8266 module.Then the motor control of the corresponding gait is realized by the application program of the upper computer.
作者
刘仁学
牛磊
Liu Renxue;Niu Lei(North China University of Technology,Beijing 100043,China)
出处
《信息与电脑》
2020年第6期118-120,共3页
Information & Computer
