Research on the Multi-Sensors Perceptual System of A Wearable Power Assist Leg Based on CANBUS

In the paper, a multi-sensors perceptual system is proposed for a wearable power assist leg(WPAL) which is designed for the elderly or disabled people to enhance strength and endurance during walking. WPAL estimates the wearer's intentions from the interactive movement information of human- WPAL system such as the leg reaction force (LRF), the ground reaction force(GRF) and the joint angle. So, the multi-sensors perceptual system is designed to include LRF sensors, GRF sensors and the joint angle sensors. The general characteristics of the sensors system are obtained through the demarcation experiments and the effectiveness of the multi-sensors perceptual system is confirmed through correlative experiments. The experiment results show that the perceptual system is stability and acute. The multi-sensors perceptual system builds good foundation for the control of the WPAL system.