DEVICE FOR DETERMINING THE ZERO MOMENT POINT POSITION, WHILE WALKING WITHOUT ANKLE FLEXION Russian patent published in 2017 - IPC G01L5/00 

FIELD: measuring equipment.

SUBSTANCE: device for determining the zero moment point position (ZMP), when a person walks without ankle flexion, represents two rectangular sole forms with fastenings to the person leg. Along the sole edges there are 4 strain gauges, the sensitive parts of which are located between two rubber substrates. The strain gauges are connected by the flexible wires busbar to the microcontroller board. The signal from each sensor is read and converted into the digital information for the further transfer to the computer, where the human THM trajectory at walking is calculated for the purpose of further using the data obtained, while creating the mathematical model of the anthropomorphic walking bipedal robot movement to teach the anthropomorphic robot to walk.

EFFECT: accuracy increase of the zero moment point position determination, when the person walks without the ankle flexion.

4 dwg