压力测量传感系统中心的动态生物机械信号采集及其自我校准系统
Ni Li1, Jianrui Zhang1, Keer Zhang1
1College of Intelligent Manufacturing, Long Dong University, Qingyang 745000, China.
Sensors (Basel, Switzerland)
|February 13, 2026
概括
本研究介绍了一种脚上安装的系统和自我校准,用于在动态双脚机器人中准确测量压力中心 (CoP). 该方法使用自适应传感器参数改进了实时运动控制和状态估计.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物力学 生物力学
- 传感器技术 传感器技术
背景情况:
- 动态双脚机器人需要实时传感来控制运动.
- 压力中心 (CoP) 对于步态分析和辅助设备至关重要.
- 现有的方法在动态行走过程中难以获得可靠的CoP.
研究的目的:
- 为动态COP采集提供脚部安装的测量系统.
- 引入在线自我校准方法,适应移动过程中的传感器参数.
- 为了在机器人中实现可靠的COP和垂直地面反应力 (vGRF) 估计.
主要方法:
- 开发了一种与机器人自身感知集成的脚上装载传感器系统.
- 使用滑动窗口优化实现了在线自我校准管道.
- 在行走实验期间,在NAO-V5机器人平台上测试了该系统.
主要成果:
- 与离线校准相比,CoP测量的试验内一致性得到改善.
- 在移动过程中证明了传感器尺度和偏差参数的适应.
- 重建的数字化垂直地面反应力 (vGRF) 估计.
结论:
- 拟议的传感和校准管道为动态COP采集提供了一个实际的解决方案.
- 该系统利用低成本的硬件来增强机器人机动控制.
- 在线自我校准可以在动态场景中提高COP估计的可靠性.
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