CN102175356A - Device and method for measuring gait touch information - Google Patents
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Abstract
本发明公开了一种步态触觉信息测量装置及测量方法。步态触觉信息测量装置包括有计算机、六分量支撑力测试台、集成式的信号调理采集电路。本发明测量方法，利用集成式信号调理采集电路采集六分量支撑力测试台中应变式感测传感器、柔性阵列传感器的的信号并传送至计算机，由计算机的测试分析软件模块提取相应的参数。本发明通过设计集成化仪器，将矢量接触力、接触形态两种信息的检测机构在物理上、硬件层、数据层统一，直接提供完整的足部触觉原始信息。
The invention discloses a gait tactile information measuring device and a measuring method. The gait tactile information measurement device includes a computer, a six-component supporting force test bench, and an integrated signal conditioning and acquisition circuit. The measurement method of the present invention uses an integrated signal conditioning acquisition circuit to collect the signals of the strain sensor and the flexible array sensor in the six-component supporting force test bench and transmits them to the computer, and the test analysis software module of the computer extracts the corresponding parameters. The present invention integrates the detection mechanism of vector contact force and contact form by designing an integrated instrument in physics, hardware layer and data layer, and directly provides complete original tactile information of the foot.
Description
Technical field
The present invention relates to the living things feature recognition field, be specially a kind of gait tactile data measurement mechanism and measuring method.
Background technology
Walking (comprising station, race) is modal human motion phenomenon, is the important research content of sport biomechanics subject.In sports and scientific research, biomechanics engineering and medical rehabilitation field, in the time of often need accurately knowing human body walking or motion, the contact condition on three directive effect power/moments, vola and ground between human body vola and ground, the distribution situation of the pressure in vola is in the hope of obtaining the scientific basis of gait analysis, sports and scientific research, athletic training guidance, medical research, residual body rehabilitation training guidance.Three-dimensional strength measurement platform and plantar pressure apparatus for measuring distribution just are being based on two kinds of surveying instruments developing on this demand.At present, the method (device) of test interface, foot-ground tactile data is mainly based on above-mentioned instrument.
For a long time, test, the analysis for the gait tactile data is to be divided into two aspects to carry out always: contact form, vector contact force.Corresponding instrument mainly is that plantar pressure distributes, the multidimensional ergograph.Wherein, plantar pressure distributes and has experienced footprint method, direct image technology, pressure flat, multi-load unit and pressure footwear stages such as (pads).The footprint method utilizes people's foot at footmark or vestige that surface of contact stays, judges each position stressing conditions of vola roughly, and is simple, with a long history, but can only write down the pressure peak in vola, can only be qualitative, and can't be quantitative.Direct visualization techniques is utilized the footmark image of camera vola under glass, obtain the stressed distribution situation in vola by image analysis technology, restricted by imaging circumstances, the image greyscale that obtains changes, resolution is limited, also be a kind of observational measurement technology, can't draw test result accurately.Pressure flat, pressure footwear (pad) utilize the quick sensing technology of power, by force-sensing sensor the pressure at each position, vola is changed and to be converted to electric signal, again via signal condition, analog to digital conversion, data acquisition technology, becoming can be for the digital signal of computer Recognition, after Computer Analysis software obtains this signal, through certain calculation, must the value of exerting oneself, show with forms such as image, forms again.According to the principle of work of sensor, plantar pressure distribution measuring sensor can be divided into resistance-type, piezoelectric type and condenser type.According to the structural form of sensor, can be divided into two kinds of pressure flat and pressure shoe-pads.Pressure flat is used for measuring interface, foot-ground contact information, and the pressure shoe-pad then is used for foot---and footwear interface contact information detects.Force plate/platform utilizes the quick sensing technology of power equally, and the space three-dimensional power of detection effect on table top (Fx, Fy, Fz) and change information.And through calculating, the analysis of professional software, can obtain three moments (Mx, My, Mz), center of effort coordinate COP, multinomial dynamic and static indexs such as pure torsion Tz, movement velocity, acceleration, jump height, power.
Vector contact force, contact form are two organic components of tactile data.The information of using above-mentioned individual equipment to obtain, the gait tactile feature in the reflection motion process that can not be complete is difficult to comprehensively, accurately describe the essential laws of foot and supporting surface contact condition.In order to solve this deficiency, the researchist need select two kind equipments of different vendor simultaneously for use, obtains complete gait tactile data by the synchronous way of external trigger.Exist test condition complexity, instrument to cooperate inconvenience, synchronous error, analytic process complexity etc. many-sided not enough.
Summary of the invention
The purpose of this invention is to provide a kind of gait tactile data measurement mechanism and measuring method, cooperate inconvenience, synchronous error, analytic process complicated problems with step pattern measuring device that solves prior art and test condition complexity, the instrument that method exists.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of gait tactile data measurement mechanism, include computing machine, it is characterized in that: also include the tactile data test board, the signal condition Acquisition Circuit of integrated form, described tactile data test board comprises, lower plate, on described, clamping has a plurality of strain-type detection sensors between the lower plate, described train wheel bridge upper surface is provided with the flexible array sensor, described flexible array sensor is the sensor array that a plurality of voltage sensitive sensors constitute, described signal condition Acquisition Circuit is connected with described computing machine communication, the signal of a plurality of strain-type detection sensors and flexible array sensor in the signal condition Acquisition Circuit synchronous acquisition six component anchorage force test boards, and be transferred to computing machine and analyze and handle, to extract space three-dimensional power Fx, Fy, Fz, three-dimensional moment Mx, My, Mz, center of effort coordinate COP, pure torsion Tz, movement velocity, acceleration, contact image, the pressure collection of illustrative plates, the Center of Pressure track, maximum pressure, pressure-time integral and power spectrum.
Described a kind of gait tactile data measurement mechanism, it is characterized in that: the sensitive spot of described flexible array sensor is array distribution, and the reticular density of sensitive spot is 4 points/cm
2
Described a kind of gait tactile data measurement mechanism, it is characterized in that: described strain-type detection sensor has four, is clamped in respectively to be positioned at upper and lower clamping plate corner location between the upper and lower clamping plate, and supports described train wheel bridge.
Described a kind of gait tactile data measurement mechanism is characterized in that: a plurality of tactile data test boards constitute the gait tactile data by the Ethernet cascade and measure passage.
A kind of gait tactile data measuring method, it is characterized in that: human body is walked on the upper surface of described train wheel bridge, and the vola contacts with the flexible array sensor that the upper surface of described train wheel bridge is provided with; Integrated form signal condition Acquisition Circuit is handled signal condition, amplification, the filtering of strain-type detection sensor simultaneously, and sensitive spot turntable driving, picking up signal, amplification, the filtering of flexible array sensor, and synchronous acquisition strain-type detection sensor signal and flexible array sensor signal, be combined into complete gait haptic signal and be transferred to computing machine; Be integrated with the test analysis software module in the described computing machine, the complete gait haptic signal that the utilization of described test analysis software module receives carries out the test of body gait characteristic parameter, analyzes, and extracts Three-dimension Contact power/moment, center of effort coordinate COP, speed, acceleration, contact image, pressure collection of illustrative plates, Center of Pressure track, maximum pressure, pressure-time integral and the multinomial dynamic and static index of power spectrum; Simultaneously described test analysis software module utilize that human body is stood, the complete gait haptic signal in the walking process, analyze the stressing conditions of foot in motion process, extract foot biomechanical characterization parameter, set up the foot stress model.
A kind of gait tactile data measuring method is characterized in that: the foot biomechanical characterization parameter of being extracted includes but not limited to vola profile, arch of foot profile, heel center, toes position, metatarsal position, contact vestige, contact sequential, pressure-time integral, touchdown point, liftoff point, Center of Pressure line.
A kind of gait tactile data measuring method, it is characterized in that: the foot stress model of setting up is meant, according to the actual measurement tactile data, extract foot biomechanical characterization parameter, set up above-mentioned and tested human body height, body weight, figure, wear the isoparametric mapping relations of footwear type.
Gait tactile data measurement mechanism of the present invention is made up of test analysis software module in tactile data test board, flexible array sensor, integrated form signal condition Acquisition Circuit and the computing machine.Wherein, the tactile data test board is made up of train wheel bridge, lower plate, strain-type detection sensor, flexible array sensor.The strain-type detection sensor adopts three-dimensional force sensor, is four independent sensing units, is fixed between train wheel bridge, four angles of lower plate.The flexible array sensor is arranged on the upper surface of train wheel bridge.Integrated form signal condition Acquisition Circuit has rank scanning driving, the pressure signal collection of array point, the six component anchorage force signal condition and the acquisition functions of array, is connected with the computing machine communication by the USB2.0 interface.Test analysis software module Communication Interface Module, data acquisition assembly, cross-couplings decoupling zero and data fusion component, data access component, components of data analysis, file administration assembly, parameter report component and print drive assembly in the computing machine.The test analysis software module obtains vector contact force information (size of power, direction, equivalent action point, moment etc.), contact shape information (comprising distribution situation, Center of Pressure, maximum pressure, pressure-time integral and the power spectrum information etc. of pressure at surface of contact) by gathering the force information of three-dimensional force sensor, the output of flexible array sensor by analysis software in the computing machine.Rehabilitation efficacy assessment during for gait analysis research, identification research, the biomechanics detection of shoe industry foot and analysis, article of footwear Comfort Evaluation and personalized customization, medical rehabilitation etc. provides scientific basis.
Among the present invention, four three-dimensional force sensors of six component anchorage force test boards are installed between train wheel bridge, the lower plate, are fastenedly connected by screw between upper and lower clamping plate and the three-dimensional force sensor.
Among the present invention, the flexible array sensor adopts silk-screen printing technique and compound suppressing moulding process to produce, on the basement membrane, basement membrane viscose glue, pressing formed the flexible array sensor body up and down about a plurality of voltage sensitive sensors were printed on, and a voltage sensitive sensor is a sensitive spot of flexible array sensor.The flexible array sensor tiles, is bonded in the upper surface of train wheel bridge again.Six component anchorage force test boards and flexible array sensor are formed complete tactile data sensing part.
Among the present invention, integrated form signal condition Acquisition Circuit comprises array scanning driving, sensitive spot picking up signal, filtering and the signals collecting of the amplification of three-dimensional force signal, filtering, gain control, zero compensation, flexible sensor.
Among the present invention, the test analysis software module of computing machine comprises assembly units such as Communication Interface Module, data acquisition assembly, cross-couplings decoupling zero and data fusion component, data access component, display module, components of data analysis, file administration assembly, parameter report component and print drive assembly.Communication Interface Module is realized the communication protocol and the exchanges data of computing machine and integrated form signal condition Acquisition Circuit; The data acquisition assembly is finished the data of original signal and is obtained; , cross-couplings decoupling zero and data fusion component realize that coupling between the dimension of multidimensional force signal is eliminated, coupling is eliminated and multidimensional force signal and flexible sensor are fused to haptic signal between the sensitive spot of flexible array sensor; Data access component is used for the preservation of test data, analysis conclusion, extracting parameter and reads; Components of data analysis is finished the applied analysis of tactile data, extract space three-dimensional power (Fx, Fy, Fz), three moment (Mx, My, Mz), center of effort coordinate COP, multinomial dynamic and static indexs such as pure torsion Tz, movement velocity, acceleration, jump height, power, contact image, pressure collection of illustrative plates, ratio collection of illustrative plates, Center of Pressure track, maximum pressure, pressure-time integral and power spectrum, according to user's configuration, for the applied research based on the gait tactile data provides data analysis template and parameter index system.
The present invention with respect to the beneficial effect of prior art is:
One, the present invention realize complete tactile data (vector contact force, contact form) synchronously, integral measuring and analysis.
Its two, the present invention with the sensor of six component anchorage forces tests and plantar pressure distribution tests structurally unite two into one, sensing haptic signal, and integrated collection synchronously.The complete tactile data that is proposed (vector contact force, contact form) integral measuring device and analytical approach are for initiating both at home and abroad.
They are three years old, in terms of existing technologies, be different from the conventional approach that adopts biomechanics test platform and motion resolution system to combine, the present invention proposes to utilize complete gait tactile data to carry out the test of body gait characteristic parameter, analyze first, forms the brand-new human body modeling method based on the gait tactile feature.
They are four years old, the present invention utilizes that human body is stood, the complete foot tactile data in the walking process, analyze the stressing conditions of foot in motion process, extract foot biomechanical characterization parameter, set up the foot stress model, the design and the measures of effectiveness of the article of footwear Comfort Evaluation of promotion shoe industry and design, article of footwear personalized design, orthopedic footwear.
Description of drawings
Fig. 1 is a system architecture synoptic diagram of the present invention.
Fig. 2 is a haptic signal sensing principle schematic of the present invention.
Fig. 3 is an integrated form signal condition Acquisition Circuit theory diagram of the present invention.
Fig. 4 is a computer testing analysis software functional flow diagram of the present invention.
Fig. 5 is a computer testing analysis software functional block diagram of the present invention.
Embodiment
As shown in Figure 1.Six component anchorage force test boards 1 and flexible array sensor 2 structurally combine together, be respectively applied for contact force and the detection that contacts form, constitute complete tactile data deriving means, four three-dimensional force sensor 1-3 are installed between train wheel bridge 1-1, the lower plate 1-2, are fastenedly connected by screw between upper and lower clamping plate 1-1,1-2 and the three-dimensional force sensor 1-3.In a kind of embodiment, integrated form signal condition Acquisition Circuit 3 is installed in the gait tactile data measurement mechanism body, in other embodiments, integrated form signal condition Acquisition Circuit 3 can be external, is connected with tactile data deriving means body by connector/signal wire.After 3 amplifications of haptic signal process integrated form signal condition Acquisition Circuit, filtering and the pre-service of the induction of gait tactile data measurement mechanism body, be connected with the computing machine 4 that the test analysis software module is installed by USB or 10/100M adaptive net card.
As shown in Figure 2.During barefoot through tactile data deriving means body, foot and body contact information synoptic diagram.On the one hand, foot can produce three directive effect power and moment to surface of contact as a whole, on the other hand, when surface of contact is passed through in the vola, can produce different traces constantly in difference, the tactile data deriving means is responded to this two kinds of information simultaneously by six component anchorage force test boards 1 and flexible array sensor 2 respectively, and analyzes, handles through the test analysis software module 4 that integrated form signal condition Acquisition Circuit 3 is sent into computing machine.
As shown in Figure 3.Strain resistor is formed wheatstone bridge form in six component anchorage force test boards 1.When stressed, electric bridge two arm balances are destroyed, produce differential output signal, differential amplifier on the integrated form signal condition Acquisition Circuit amplifies this signal, pass through low-pass filter filtering again, insert the analog selection switch, enter ADC by microprocessor timesharing gating and be converted to digital quantity, see through communication interface and transmit to computing machine.
As shown in Figure 4.The test analysis software module at first is provided with situation according to user items after starting, and fetch equipment specifications parameter and operation configuration parameter are waited for user's steering order; After receiving start command of acquisition, output sensing unit drive signal, the output of gathering sensing unit is earlier kept in, is shown obtaining data again, is carrying out data fusion, parameter analysis to obtaining data.
As shown in Figure 5.The test analysis software module main functional modules of computing machine comprises platform management, user's input, data acquisition, display management, integrated analysis, analytic application etc.Its core is the integrated analysis module, based on project templet and database, and the various mathematic parameters of the contact force in the analytical calculation tactile data, contact condition.
As the application of above-mentioned embodiment, the present invention can be used for the living things feature recognition field, promotes the identification research based on the gait tactile data.Test analysis software utilizes complete gait tactile data to carry out the test of body gait characteristic parameter, analyze, and calculates movement human step phase parameter, support phase, swing phase dutycycle, walking speed, step phase angle, the momentum that contacts to earth, balance wheel kinetic moment, Center of Pressure motion track, walking vola vestige, the custom etc. of moving one's steps.
As the application of above-mentioned embodiment, the present invention also can be used for the design and the measures of effectiveness of the article of footwear Comfort Evaluation of shoe industry and design, article of footwear personalized design, orthopedic footwear.The soft collection human body of test analysis is stood, the complete foot tactile data in the walking process, analyze the stressing conditions in foot districts such as heel, arch area, metatarsal joints, loe zone in the walking movement process, extract foot biomechanical characterization parameter, set up the foot stress model.
Above-mentioned embodiment is an embodiment of the present invention, those skilled in the art can carry out various changes and modification to above-mentioned embodiment of the present invention and not break away from the spirit and scope of the present invention, if these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
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| CN102496229A (en) * | 2011-12-28 | 2012-06-13 | 杨晓辉 | Floor antitheft apparatus |
| CN102697507A (en) * | 2012-06-26 | 2012-10-03 | 中国人民解放军第三军医大学第三附属医院 | System for analyzing walking state of rehabilitation training of patient |
| CN103954393A (en) * | 2013-11-26 | 2014-07-30 | 北京理工大学 | Human-induced load testing system based on force measurement plate |
| CN104908319A (en) * | 2015-04-30 | 2015-09-16 | 青岛尤尼科技有限公司 | Preparation method for orthopedic shoe pad and orthopedic shoe pad |
| CN105229433A (en) * | 2013-03-05 | 2016-01-06 | 赫尔比公司 | For measuring the method for whose body weight and implementing the shoe-pad of the method |
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| CN105654041A (en) * | 2015-12-28 | 2016-06-08 | 西北工业大学 | Feature parameter acquisition method based on gait data and device thereof |
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| CN102496229B (en) * | 2011-12-28 | 2013-11-20 | 杨晓辉 | Floor antitheft apparatus |
| CN102496229A (en) * | 2011-12-28 | 2012-06-13 | 杨晓辉 | Floor antitheft apparatus |
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| CN105229433A (en) * | 2013-03-05 | 2016-01-06 | 赫尔比公司 | For measuring the method for whose body weight and implementing the shoe-pad of the method |
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Application publication date: 20110907 |