具有拟人跨步的助步轮椅重心检测

Center of Gravity Detection of Walk Assisting Wheelchair

具有拟人跨步的助步轮椅是一种基于仿生学的多功能电动助步轮椅.该轮椅在行走模式时,人和助步轮椅的合重心关系到轮椅步行时的稳定性,是助步轮椅步态控制的依据.提出一种具有拟人跨步的助步轮椅重心点检测系统,并对其进行数学建模,推导传感器的输出值和重心点的相互关系,设计具有双层结构的重心检测机构、重心检测系统信号处理电路和基于数字信号处理(digital signal processing,DSP)的数据采集系统.最后,对重心检测平台所测得的试验数据进行分析,得到整个系统的重复精度和系统误差,并对误差产生的原因进行分析.

Walk assisting wheelchair is a kind of bionic muhifunctional wheelchair. When the walk assisting wheelchair is in the walking mode, its stability depends on the detection of center of gravity （COG） of the combination of the wheelchair and the patient to provide a basis to the wheelchair gait control. We introduce a wheelchair COG detection system in this paper. We construct a mathematical model, and derive relationship between the sensor output and the COG. A double layer mechanical structure of the COG detection system is designed, with a signal processing circuit and a digital signal processing （DSP） based data acquisition system. By analyzing experimental data acquired by the DSP, precision and the system error are obtained.