The multi-sensor perceptual system included the leg reaction force (LRF) sensors, the ground reaction force (GRF) sensors and the joint angle sensors measuring the joint angle of WPAL.

• 该系统主要包括获取腿部接触力传感器、地面反力传感器以及用于获取外骨骼机器人关节运动信息的电机编码器等。