CN108542393B - Plantar sensing device and wearable exoskeleton - Google Patents
Plantar sensing device and wearable exoskeleton Download PDFInfo
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- CN108542393B CN108542393B CN201810293446.6A CN201810293446A CN108542393B CN 108542393 B CN108542393 B CN 108542393B CN 201810293446 A CN201810293446 A CN 201810293446A CN 108542393 B CN108542393 B CN 108542393B
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- 238000001514 detection method Methods 0.000 claims abstract description 123
- 239000000758 substrate Substances 0.000 claims description 71
- 238000000926 separation method Methods 0.000 claims description 12
- 210000002683 foot Anatomy 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 5
- 210000003371 toe Anatomy 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 6
- 241000270923 Hesperostipa comata Species 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a plantar sensing device and a wearable exoskeleton, wherein the wearable exoskeleton comprises an exoskeleton bracket, the exoskeleton bracket is fixedly connected with the plantar sensing device, and the plantar sensing device comprises: the exoskeleton bracket is fixedly connected with the base; the first detection component is accommodated in the accommodating cavity and is abutted to the lower cavity wall of the accommodating cavity, and the first detection component is used for detecting the contact state of the base and the ground; the second detection assembly is accommodated in the accommodating cavity and is abutted to the upper cavity wall of the accommodating cavity, and the second detection assembly is used for detecting the contact state of the base and a wearer. The technical scheme of the invention aims to detect the contact state of the sole of the wearable exoskeleton with the human body and the contact state of the wearable exoskeleton with the ground in real time, so that the wearable exoskeleton foot control device is convenient for a user to use.
Description
Technical Field
The invention relates to the technical field of foot robots and exoskeleton robots, in particular to a plantar sensing device and a wearable exoskeleton.
Background
The wearable exoskeleton is applied to some patients with paralysis of lower limbs or inconvenient movement, and in order to prevent diseases such as joint deformation of the patients, the joints of the patients are subjected to certain protection to perform rehabilitation exercise. Because the wearer is wearing the wearable exoskeleton, the wearer is not in direct contact with the ground, but is in direct contact with the ground through the sole of the wearable exoskeleton. Therefore, the contact state of the human body and the sole of the wearable exoskeleton and the contact state of the wearable exoskeleton and the ground are required to be detected in real time, so that the aim of accurately judging the current motion state of the system is fulfilled. In the prior art, a single-layer sensor is adopted by the sole to detect the motion state of the system, so that the contact state of the sole of the wearable exoskeleton with the human body and the contact state of the wearable exoskeleton with the ground cannot be detected in real time, and the use of the wearable exoskeleton is inconvenient for users.
Disclosure of Invention
The invention mainly aims to provide a plantar sensing device which aims to detect the contact state of the sole of a wearable exoskeleton with a human body and the contact state of the wearable exoskeleton with the ground in real time and is convenient for a user to use.
In order to achieve the above object, the present invention provides a plantar sensing device for a wearable exoskeleton, the wearable exoskeleton includes an exoskeleton bracket, the exoskeleton bracket is fixedly connected with the plantar sensing device, and the plantar sensing device includes:
the exoskeleton bracket is fixedly connected with the base;
The first detection component is accommodated in the accommodating cavity and is abutted to the lower cavity wall of the accommodating cavity, and the first detection component is used for detecting the contact state of the base and the ground;
The second detection assembly is accommodated in the accommodating cavity and is abutted to the upper cavity wall of the accommodating cavity, and the second detection assembly is used for detecting the contact state of the base and a wearer.
Optionally, the first detection assembly includes a first substrate and at least one first detection module, where the first detection module is disposed on a surface of the first substrate facing the lower cavity wall of the accommodating cavity, and the first detection module is abutted to the lower cavity wall of the accommodating cavity;
The second detection assembly comprises a second substrate and at least one second detection module, the second detection module is arranged on the surface of the second substrate, which faces the upper cavity wall of the accommodating cavity, and the second detection module is abutted to the upper cavity wall of the accommodating cavity.
Optionally, the first detection assembly includes a plurality of first detection modules, and the plurality of first detection modules are distributed on the surface of the first substrate at intervals;
and/or the second detection assembly comprises a plurality of second detection modules, and the second detection modules are distributed on the surface of the second substrate at intervals.
Optionally, the first detection module and the second detection module each include a plurality of on-off contact switches, and the on-off contact switches are electrically connected with each other.
Optionally, the plantar sensing device further comprises a pressure detection assembly, the pressure detection assembly comprises a third substrate and a plurality of pressure sensor modules, the plurality of pressure sensor modules are uniformly distributed on the surface of the third substrate, the third substrate is fixedly attached to the base, and the pressure sensor modules are abutted to the base;
Or the third substrate is positioned between the first detection assembly and the second detection assembly, and is fixedly connected with the first substrate and the second substrate, and the pressure sensor module is abutted to the first substrate and the second substrate.
Optionally, the base includes bottom plate, curb plate and upper cover, the curb plate is followed the edge extension of bottom plate, the upper cover lid in the curb plate deviates from one side of bottom plate, the bottom plate the curb plate with the upper cover forms jointly accept the chamber, first detection module is adjacent the bottom plate sets up, first detection module butt in the bottom plate is towards accept the surface in chamber, second detection module is adjacent the upper cover sets up, second detection module butt in the upper cover is towards accept the surface in chamber.
Optionally, the vertical projection of base is shoe-pad form setting, the curb plate of the heel of base is to keeping away from the direction extension of bottom plate forms connecting portion, the ectoskeleton support with connecting portion fixed connection.
Optionally, the plantar sensing device further comprises at least one fixing belt which is arranged around the base, and two ends of the fixing belt are fixedly connected with two opposite sides of the base respectively.
Optionally, the plantar sensing device comprises a plurality of fixing belts, two ends of one fixing belt are respectively and fixedly connected with the opposite side plates, and one fixing belt is arranged around the connecting part and is fixedly connected with the connecting part; and/or the base, the connecting part, the fixing belt, the first substrate, the second substrate and the third substrate are made of flexible materials.
The invention also provides a wearable exoskeleton, which comprises an exoskeleton bracket fixedly connected with the plantar sensing device, wherein the plantar sensing device comprises:
the exoskeleton bracket is fixedly connected with the base;
The first detection component is accommodated in the accommodating cavity and is abutted to the lower cavity wall of the accommodating cavity, and the first detection component is used for detecting the contact state of the base and the ground;
The second detection assembly is accommodated in the accommodating cavity and is abutted to the upper cavity wall of the accommodating cavity, and the second detection assembly is used for detecting the contact state of the base and a wearer.
According to the technical scheme, the accommodating cavity is formed in the base, the accommodating cavity 11 is used for accommodating the first detection component abutting against the lower cavity wall of the accommodating cavity and the second detection component abutting against the upper cavity wall of the accommodating cavity, when a wearer wears the wearable exoskeleton, the wearable exoskeleton enters a supporting state, the base is firstly contacted with the ground, the base is firstly contacted with the wearer, and therefore the first detection component firstly sends out a contact signal, and the second detection component firstly sends out a contact signal; when the wearable exoskeleton is worn by a wearer to move, the wearable exoskeleton is changed from a supporting state to a swinging state, the base is separated from the wearer, the base is separated from the ground, the second detection assembly sends out a separation signal, and the first detection assembly sends out a separation signal. Therefore, the technical scheme of the invention can detect the contact state of the sole of the wearable exoskeleton with the human body and the contact state of the wearable exoskeleton with the ground in real time, and is convenient for users to use.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an exploded view of an embodiment of a plantar sensing device according to the present invention;
FIG. 2 is a schematic diagram illustrating a stacking of a first substrate, a second substrate, a third substrate and a top cover of the plantar sensing device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a pressure detecting unit of a sole sensor according to an embodiment of the present invention.
Reference numerals illustrate:
| Reference numerals | Name of the name | Reference numerals | Name of the name |
| 100 | Plantar sensing device | 331 | On-off type contact switch |
| 10 | Base seat | 50 | Second detection assembly |
| 11 | Accommodating cavity | 51 | Second substrate |
| 13 | Bottom plate | 53 | Second detection module |
| 131 | Anti-skid groove | 70 | Pressure detection assembly |
| 15 | Side plate | 71 | Third substrate |
| 17 | Upper cover | 73 | Pressure sensor module |
| 30 | First detection assembly | 80 | Connecting part |
| 31 | First substrate | 81 | Mounting hole |
| 33 | First detection module | 90 | Fixing band |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a plantar sensing device 100.
Referring to fig. 1 to 3, a plantar sensing device 100 according to the present invention is used for a wearable exoskeleton (not shown), the wearable exoskeleton includes an exoskeleton bracket (not shown), the exoskeleton bracket is fixedly connected with the plantar sensing device 100, and the plantar sensing device 100 includes:
The exoskeleton comprises a base 10, wherein a containing cavity 11 is formed in the base 10, and the exoskeleton bracket is fixedly connected with the base 10;
The first detection assembly 30 is accommodated in the accommodating cavity 11 and is abutted against the lower cavity wall of the accommodating cavity 11, and the first detection assembly 30 is used for detecting the contact state of the base 10 and the ground;
The second detecting component 50 is accommodated in the accommodating cavity 11 and is abutted to the upper cavity wall of the accommodating cavity 11, and the second detecting component 50 is used for detecting the contact state of the base 10 and the wearer.
According to the technical scheme, the accommodating cavity 11 is formed in the base 10, the first detection component 30 abutting against the lower cavity wall of the accommodating cavity 11 and the second detection component 50 abutting against the upper cavity wall of the accommodating cavity 11 are accommodated in the accommodating cavity 11, when a wearer wears the wearable exoskeleton, at this time, the wearable exoskeleton enters a supporting state, the base 10 is firstly contacted with the ground, the base 10 is firstly contacted with the wearer, and then the first detection component 30 firstly sends out a contact signal, and the second detection component 50 later sends out a contact signal; when the wearable exoskeleton is worn by the wearer, the wearable exoskeleton is changed from the supporting state to the swinging state, the base 10 is separated from the wearer, and the base 10 is separated from the ground, so that the second detection component 50 sends out the separation signal first, and the first detection component 30 sends out the separation signal. Therefore, the technical scheme of the invention can detect the contact state of the sole of the wearable exoskeleton with the human body and the contact state of the wearable exoskeleton with the ground in real time, and is convenient for users to use.
It can be appreciated that the shape of the vertical projection of the housing cavity 11 and the shapes of the first detecting component 30 and the second detecting component 50 are mutually adapted, so that the first detecting component 30 and the second detecting component 50 can avoid unnecessary shake, reduce the noise of detection, and further make the detection result more accurate. In an embodiment of the present application, the first detecting component 30 and the second detecting component 50 may be fixed in the accommodating cavity 11, or the first detecting component 30 and the second detecting component 50 may be directly placed in the accommodating cavity 11, so long as the first detecting component 30 and the second detecting component 50 can be conveniently detected.
Referring to fig. 1 and 2, further, the first detecting assembly 30 includes a first substrate 31 and at least one first detecting module 33, the first detecting module 33 is disposed on a surface of the first substrate 31 facing the lower cavity wall of the accommodating cavity 11, and the first detecting module 33 abuts against the lower cavity wall of the accommodating cavity 11; the second detecting assembly 50 includes a second substrate 51 and at least one second detecting module 53, the second detecting module 53 is disposed on a surface of the second substrate 51 facing the upper cavity wall of the accommodating cavity 11, and the second detecting module 53 abuts against the upper cavity wall of the accommodating cavity 11. Specifically, the first detecting component 30 and the second detecting component 50 detect the contact state between the base 10 and the ground and between the base and the wearer through the first detecting module 33 and the second detecting module 53, and the first detecting module 33 may be a capacitive sensor, a resistive sensor, an inductive sensor, a piezoelectric sensor, or an on-off contact switch 331 with a contact detecting function, so long as the first detecting component 30 sends out a contact signal when the wearable exoskeleton is in a supporting state, the second detecting component 50 sends out a contact signal after the second detecting component 50, and the second detecting component 50 sends out a separation signal when the wearable exoskeleton is changed from the supporting state to a swinging state, and the first detecting component 30 sends out a separation signal after the first detecting component 30. In an embodiment of the present application, a separate set of the first detecting module 33 and the second detecting module 53 may be used, where the first detecting module 33 and the second detecting module 53 may be respectively disposed on the surfaces of the first substrate 31 and the second substrate 51, so that the detecting effect is most accurate.
In an embodiment of the present application, the first detecting assembly 30 includes a plurality of first detecting modules 33, and the plurality of first detecting modules 33 are distributed on the surface of the first substrate 31 at intervals; and/or, the second detecting assembly 50 includes a plurality of second detecting modules 53, and the plurality of second detecting modules 53 are distributed on the surface of the second substrate 51 at intervals. Specifically, the first detection module 33 and the second detection module 53 respectively include 5 groups, and since the base 10, the first substrate 31 and the second substrate 51 are disposed according to the foot shape of the human body, it can be understood that, in order to reduce the cost and achieve better contact detection, a group of first detection modules 33 and a group of detection modules are respectively disposed at positions adapted to the big toes of the foot of the human body approximately; a group of first detection modules 33 and a group of detection modules are arranged at the positions adapting to four small toes of the human foot; two groups of first detection modules 33 and two groups of detection modules are arranged at the position which is matched with the front sole of the human foot; the two first detecting modules 33 and the two detecting modules are arranged at the positions of the soles of the feet of the human body. The arrangement can realize better contact detection, so that when the wearable exoskeleton is in a supporting state, the first detection component 30 sends out a contact signal firstly, and the second detection component 50 sends out a contact signal later, and when the wearable exoskeleton is changed from the supporting state to a swinging state, the second detection component 50 sends out a separation signal firstly, and the first detection component 30 sends out a separation signal later. Of course, the specific positions and numbers of the first detection modules 33 and the second detection modules 53 may be set according to actual needs, so long as the use is convenient for the user.
Further, the first detecting module 33 and the second detecting module 53 each include a plurality of on-off contact switches 331, and the on-off contact switches 331 are electrically connected to each other. Specifically, the on-off contact switch 331 can only send out 0 or 1 signals, and in an embodiment of the application, when the wearable exoskeleton is in a supporting state, the first detecting component 30 sends out the contact signal 0 first, and the second detecting component 50 sends out the contact signal 0 later; when the wearable exoskeleton is changed from the supporting state to the swinging state, the second detection component 50 firstly sends out the separation signal 1, and the first detection component 30 then sends out the separation signal 1; of course, the actual signal output may be set as desired. Since the on-off type contact switch 331 can only send out two signals, the response of the contact detection can be made quicker. In addition, in an embodiment of the present application, a plurality of on-off contact switches 331 are arranged in parallel, so that the on-off contact switches 331 can be prevented from being damaged, normal operation of other on-off contact switches 331 is not affected, and system stability is ensured.
Referring to fig. 1 and 3, in an embodiment of the application, the plantar sensing device 100 further includes a pressure detecting assembly 70, the pressure detecting assembly 70 includes a third substrate 71 and a plurality of pressure sensor modules 73, the plurality of pressure sensor modules 73 are uniformly distributed on the surface of the third substrate 71, the third substrate 71 is adhered and fixed to the base 10, and the pressure sensor modules 73 are abutted to the base 10; or the third substrate 71 is located between the first detecting assembly 30 and the second detecting assembly 50 and is fixedly connected to the first substrate 31 and the second substrate 51, and the pressure sensor module 73 is abutted against the first substrate 31 and the second substrate 51. It will be appreciated that the shape of the vertical projection of the third substrate 71 is substantially similar to that of the base 10, and this arrangement can make the plantar sensing device 100 more compact and convenient for the user. It can be appreciated that the base 10, the connecting portion 80, the fixing strap 90, the first substrate 31, the second substrate 51 and the third substrate 71 are all made of flexible materials, so that the arrangement can better meet the use requirement of the wearable exoskeleton, and the normal activities of the wearer are not affected, and the plantar sensing device 100 has lighter weight and is convenient for the user to use.
Specifically, the flexible material can enable rubber or silica gel to have good elastic deformation effect, can well meet the use requirement of the wearable exoskeleton, does not influence the normal activities of a wearer, and is convenient for users to use. When the third substrate 71 is located between the first detecting assembly 30 and the second detecting assembly 50, the third substrate 71 may be glued to the first substrate 31 and the second substrate 51, or sewn by a needle or sewn together, and it is understood that the distribution state of the pressure sensor module 73 is consistent with the distribution state of the first detecting module 33 and the second detecting module 53, so that the detecting effect of the pressure sensor module is more accurate, and of course, the distribution state of the pressure sensor module 73 may be set according to the actual needs, so long as the detection is convenient. And, the first detection module 33, the second detection module 53 and the pressure sensor detection module are respectively fixed in the first substrate 31, the second substrate 51 and the third substrate 71 by means of rubber pouring, so that the first substrate 31, the second substrate 51 and the third substrate 71 can buffer and protect the first detection module 33, the second detection module 53 and the pressure sensor detection module, and the detection stability of the plantar sensing device 100 is higher.
Referring to fig. 1, further, the base 10 includes a bottom plate 13, a side plate 15 and an upper cover 17, the side plate 15 extends from an edge of the bottom plate 13, the upper cover 17 covers a side of the side plate 15 facing away from the bottom plate 13, the side plate 15 and the upper cover 17 together form the accommodating cavity 11, the first detection module 30 is disposed adjacent to the bottom plate 13, the first detection module 33 is abutted to a surface of the bottom plate 13 facing the accommodating cavity 11, the second detection module 50 is disposed adjacent to the upper cover 17, and the second detection module 53 is abutted to a surface of the upper cover 17 facing the accommodating cavity 11. It will be appreciated that when the wearer wears the wearable exoskeleton, the wearer presses against a surface of the upper cover 17 facing away from the accommodating cavity 11; and the surface of the bottom plate 13 facing the accommodating cavity 11 is the lower cavity wall of the accommodating cavity 11, and the surface of the upper cover 17 facing the accommodating cavity 11 is the upper cavity wall of the accommodating cavity 11. The anti-slip grooves 131 are formed in the side, away from the accommodating cavity 11, of the bottom plate 13, and the anti-slip grooves 131 are formed in the side, away from the accommodating cavity 11, of the bottom plate, so that friction force between the plantar sensing device 100 and the ground can be increased, and a wearer walks more conveniently, and the anti-slip device is convenient for the user to use.
Further, the vertical projection of the base 10 is in a shape of a shoe pad, the side plate 15 of the heel of the base 10 extends away from the bottom plate 13 to form a connecting portion 80, and the exoskeleton bracket is fixedly connected with the connecting portion 80. Providing the connecting portion 80 at the heel can limit the corresponding freedom of the ankle of the wearer, and does not affect the normal activities of the wearer, so that the plantar sensing device 100 is suitable for different wearers and is convenient for the user to use. The connecting portion 80 is further provided with a plurality of mounting holes 81, and the wearable exoskeleton can be correspondingly provided with the mounting holes 81 and the connecting members, so as to be connected with the plantar sensing device 100.
In an embodiment of the present application, the plantar sensing device 100 further includes at least one fixing strap 90 disposed around the base 10, and two ends of the fixing strap 90 are fixedly connected to two opposite sides of the base 10. The fixing band 90 is provided to facilitate the wearer to wear the plantar sensing device 100, and facilitate the user's use. It will be appreciated that the securing strap 90 is made of a flexible material so that it is convenient to wear. And may be further provided with a clamping member (not shown) clamped by the fixing belt 90, and the contact state between the fixing belt 90 and the wearer is changed by the clamping member, and both ends of the fixing belt 90 are sewn and fixed by needle and thread, and are fixedly connected with the base 10.
Further, the plantar sensing device 100 includes a plurality of fixing straps 90, two ends of one fixing strap 90 are respectively and fixedly connected with the opposite side plates 15, and one fixing strap 90 is disposed around the connecting portion 80 and is fixedly connected with the connecting portion 80. Providing a plurality of fastening strips 90 may facilitate the wearing of the wearer, thereby facilitating the plantar sensing arrangement 100 to detect the contact state of the base 10 with the wearer, the ground. And the fixing belt 90 is arranged on the connecting part 80, so that the wearer can be further protected, and the use is convenient for the user.
The invention also provides a wearable exoskeleton, which comprises an exoskeleton bracket and a plantar sensing device 100, wherein the exoskeleton bracket is fixedly connected with the plantar sensing device 100, and the plantar sensing device 100 comprises: the exoskeleton comprises a base 10, wherein a containing cavity 11 is formed in the base 10, and the exoskeleton bracket is fixedly connected with the base 10; the first detection assembly 30 is accommodated in the accommodating cavity 11 and is abutted against the lower cavity wall of the accommodating cavity 11, and the first detection assembly 30 is used for detecting the contact state of the base 10 and the ground; the second detecting component 50 is accommodated in the accommodating cavity 11 and is abutted to the upper cavity wall of the accommodating cavity 11, and the second detecting component 50 is used for detecting the contact state of the base 10 and the wearer. Because the wearable exoskeleton adopts all the technical schemes of all the embodiments, the wearable exoskeleton has at least all the beneficial effects brought by the technical schemes of the embodiments, and is not described in detail herein.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (6)
1. A plantar sensing device for a wearable exoskeleton, the wearable exoskeleton comprising an exoskeleton bracket, the exoskeleton bracket fixedly connected with the plantar sensing device, the plantar sensing device comprising:
the exoskeleton bracket is fixedly connected with the base;
The first detection assembly is accommodated in the accommodating cavity and comprises a first substrate and a plurality of first detection modules, the plurality of first detection modules are distributed on the surface of the first substrate, facing the lower cavity wall of the accommodating cavity, at intervals, the first detection modules are abutted to the lower cavity wall of the accommodating cavity, and the first detection assembly is used for detecting the contact state of the base and the ground;
The second detection assembly is accommodated in the accommodating cavity and comprises a second substrate and a plurality of second detection modules, the second detection modules are distributed on the surface of the second substrate, facing the upper cavity wall of the accommodating cavity, at intervals, the second detection modules are abutted to the upper cavity wall of the accommodating cavity, the second detection assemblies are used for detecting the contact state of the base and a wearer, and the first detection modules and the second detection modules comprise a plurality of on-off contact switches which are electrically connected with each other;
The plantar sensing device further comprises a pressure detection assembly, the pressure detection assembly comprises a third substrate and a plurality of pressure sensor modules, the pressure sensor modules are uniformly distributed on the surface of the third substrate, the third substrate is located between the first detection assembly and the second detection assembly and fixedly connected with the first substrate and the second substrate, and the pressure sensor modules are abutted to the first substrate and the second substrate;
The first detection module and the second detection module respectively comprise a plurality of groups, the base, the first substrate and the second substrate are arranged according to the foot shape of a human body, and one group of the first detection module and one group of the second detection module are arranged at positions adapting to the big toes of the foot of the human body; the first detection module and the second detection module are arranged at positions adapting to four small toes of the human foot; the two groups of first detection modules and the two groups of second detection modules are arranged at positions adapting to the front soles of the human feet; the two groups of first detection modules and the two groups of second detection modules are arranged at positions adapting to the soles of the human feet;
When the wearable exoskeleton enters a supporting state, the base is contacted with the ground firstly, the base is contacted with the wearer later, the first detection assembly firstly sends out a contact signal, and the second detection assembly later sends out a contact signal;
when the wearable exoskeleton is changed from a supporting state to a swinging state, the base is separated from a wearer, the base is separated from the ground, the second detection assembly sends out a separation signal, and the first detection assembly sends out a separation signal.
2. The plantar sensing device of claim 1, wherein the base comprises a bottom plate, a side plate and an upper cover, the side plate extends from the edge of the bottom plate, the upper cover covers one side of the side plate away from the bottom plate, the side plate and the upper cover together form the accommodating cavity, the first detection module is arranged adjacent to the bottom plate and is abutted to the surface of the bottom plate facing the accommodating cavity, the second detection module is arranged adjacent to the upper cover, and the second detection module is abutted to the surface of the upper cover facing the accommodating cavity.
3. The plantar sensing device according to claim 2, wherein the vertical projection of the base is in a shoe pad shape, a side plate of a heel of the base extends away from the bottom plate to form a connecting portion, and the exoskeleton bracket is fixedly connected with the connecting portion.
4. The plantar sensing device of claim 3, further comprising at least one fixing strap disposed around the base, wherein two ends of the fixing strap are fixedly connected to two opposite sides of the base.
5. The plantar sensing device of claim 4, comprising a plurality of fixing straps, wherein two ends of one fixing strap are respectively fixedly connected with the opposite side plates, and one fixing strap is arranged around the connecting part and is fixedly connected with the connecting part; and/or the base, the connecting part, the fixing belt, the first substrate, the second substrate and the third substrate are made of flexible materials.
6. A wearable exoskeleton comprising the plantar sensing device of any one of claims 1 to 5.
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| CN109316314B (en) * | 2018-10-19 | 2024-09-27 | 中国科学院深圳先进技术研究院 | Exoskeleton robot, universal joint module and joint limiting assembly thereof |
| CN109222984B (en) * | 2018-10-23 | 2021-07-06 | 哈尔滨工业大学 | A plant-based human-computer interaction measurement device based on multi-source information fusion |
| CN112716483A (en) * | 2020-12-28 | 2021-04-30 | 常州福普生电子科技有限公司 | Wearable plantar pressure measuring device and method |
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