Method for measuring foot applied force in a lower limb rehabilitation training robot

Plantar Pressure is a very important biomechanical parameter in a lower limb rehabilitation training robot,as it reflects not only the patient's dynamic walking stability but also whether the gait is normal or not.Plantar Pressure measurements in real time are necessary for walking stability control and compliance control of lower limb rehabilitation training robot.To remedy defects in existing methods,a force/torque sensor based on a dual deformed beam is proposed.The structure and measurement principles are elucidated. And the mathematical model of calculating the plantar pressure is established by using data from the sensor.With this method,the magnitude of plantar pressure and the center of pressure can be determined without significant errors.The sensor is characterized by simple construction,weak coupling between dimensions,low cost and little damage.