智能人工腿步速测量数字电路的设计与分析

智能人工腿是一个精密的机电一体化装置，其关键部件之一是步速测量电路。作者提出一种新的步速测量方法，即测量人工腿在摆动相的持续时间，用该时间的长短来间接反映步速的快慢，设计电路时，采用自顶向下（Top-Down）的设计方法，其核心内容是将测量系统按不同功能分割成几个模块，然后分别设计每一个模块电路，最后，用1片ispLSI1016高密度可编程芯片并采用ISP（In System Program）编程方法调离同步速测量电路。ISP编程方法的优点是可以现场修改，调速测量系统电路，并且不需要仿真器装置，实验结果表明：设计的这种步速测量电路结构合理，可有效地实现对智能人工腿步速的测量。

An intelligent artificial leg is a precise electromechanical device, one of whose key components is the walking speed measuring circuit. In this paper, a new method for walking speed measurement of artificial legs is proposed, in which we measure the movement duration of an artificial leg in swinging phase and express its walking speed indirectly in terms of this duration. In designing the circuit , we adopt a method called top down, i.e., first dividing the measuring circuit into several modules according...

中国科学院机器人学开放研究实验室基金资助项目 (RL2 0 0 0 0 2 )