下肢外骨骼安全测试平台软件系统设计

Software System Design of Lower Limb Exoskeleton Safety Test Platform

摘要: 为实现下肢外骨骼安全测试平台运行状态数据的可视化，采用面向对象的C++编程语言设计了基于Qt图形库框架的上位机软件，该软件对接收到的运动数据进行处理分析，实现了运动参数检测、足底压力分析、Z轴垂直质心变化检测等功能。基于模糊网络分析法提出了对于下肢外骨骼安全性的评价方法，使用多传感器系统采集数据计算指标，以定量的方式得到综合评价结果。首先，介绍了自主设计的下肢外骨骼安全测试硬件平台的结构和原理以及软件实现过程；然后，介绍了上位机软件的功能以及设计和实现过程；最后，以下肢外骨骼安全测试平台为实验对象，验证了所设计的上位机软件的有效性。

Abstract: To achieve the visualization of operational status data for the lower limb exoskeleton safety testing platform, an upper computer software was designed using object-oriented C++ programming language and based on the Qt graphics library framework. The software processes and analyzes the received motion data, implementing functions such as motion parameter detection, foot pressure analysis, and detection of the vertical center of mass (COM) changes along the Z-axis. A safety evaluation method for the lower limb exoskeleton was proposed based on fuzzy network analysis. This method uses a multi-sensor system to collect data and calculate indicators, obtaining a comprehensive evaluation result in a quantitative manner. First, the structure and principles of the self-designed lower limb exoskeleton safety testing hardware platform, as well as the software implementation process, are introduced. Then, the functions of the upper computer software, along with its design and implementation process, are described. Finally, the effectiveness of the designed upper computer software is verified by conducting experiments on the lower limb exoskeleton safety testing platform.