论文标题
富富：一个坚固的脚传感器，用于柔软地形的力和压力感应中心
FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain
论文作者
论文摘要
在本文中，我们提出了Foottile，这是一个反应力的脚传感器和在具有挑战性的地形中的压力感应中心。我们将传感器设计与标准生物力学设备，力板和压力板进行比较。我们表明，富富可以准确估计腿部运动期间的力和压力分布。富利（Foottile）重0.9g，采样率为330Hz，足迹为10 x 10mm，可以轻松地在传感器范围内适应所需的负载情况。在三个实验中，我们验证：首先是单个传感器的性能，其次是压力感应中心的一系列泡沫，第三个是颗粒底物运动过程中的地面反作用力估计。然后，我们继续展示液态泥浆中防水传感器的准确传感能力，作为现实世界中粗糙地形使用的展示。
In this paper we present FootTile, a foot sensor for reaction force and center of pressure sensing in challenging terrain. We compare our sensor design to standard biomechanical devices, force plates and pressure plates. We show that FootTile can accurately estimate force and pressure distribution during legged locomotion. FootTile weighs 0.9g, has a sampling rate of 330Hz, a footprint of 10 by 10mm and can easily be adapted in sensor range to the required load case. In three experiments we validate: first the performance of the individual sensor, second an array of FootTiles for center of pressure sensing and third the ground reaction force estimation during locomotion in granular substrate. We then go on to show the accurate sensing capabilities of the waterproof sensor in liquid mud, as a showcase for real world rough terrain use.
