基于嵌入式系统的下肢负荷外骨骼设计

摘要

为了提高人体的负重能力,展开了下肢负荷外骨骼系统的研究；系统主要由ARM控制器、仿生下肢、电机及其控制器组成;髋关节与膝关节安装气弹簧,并得到关节角度与气弹簧长度的关系；根据EPOS的数据帧格式,计算串口控制指令的循环校验码,得到串口控制指令,提高了控制器与EPOS之间的通信速率;针对板载A/D接口,编写了接口函数,数据误差率与测量信号成反比,工作范围内保持最大为5％.%To increase the weight loading ability of people, study of lower extremity load exoskeleton is proposed. The whole structure consists of ARM controller, bionic. Motor and controller components. Hip and knee are installated with air springs, and the relationship between the joint angle and the length of air springs is got. According the data frame of EPOS, CRC is calculated to obtain the aerial ports command. As a result, communication rate from the controller to the EPOS has been improved. For A/D interface, A/D function was edited. Error rate is inversely proportional to signal, with max 5% in the scope of work.