Design of Torque Signal Acquisition System for Lower Extremity Exoskeleton Robot

Intention recognition is the key technology to help the wearer control the lower extremity exoskeleton, and the real-time and accurate signal acquisition system is the necessary prerequisite for intention recognition. In this paper, a multi-channel signal acquisition system based on CAN bus is designed with torque signal as the main signal source. The system uses ACK-055-10 driver as the core to realize A/D conversion. The converted data information is transmitted through CAN bus and sent to the upper computer through the PCAN-miniPCIe CAN card, and the program is written in the upper computer to realize the data processing and reading. The experimental results show that the hardware circuit of the acquisition system designed is simple. The acquisition accuracy is high. The anti-interference ability is strong and it works quickly and reliably.