CN112304480A - A gait detection device based on plantar pressure - Google Patents
A gait detection device based on plantar pressure Download PDFInfo
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- CN112304480A CN112304480A CN202011303836.0A CN202011303836A CN112304480A CN 112304480 A CN112304480 A CN 112304480A CN 202011303836 A CN202011303836 A CN 202011303836A CN 112304480 A CN112304480 A CN 112304480A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0038—Force sensors associated with force applying means applying a pushing force
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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
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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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
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/112—Gait analysis
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6804—Garments; Clothes
- A61B5/6807—Footwear
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Abstract
本申请提供了一种基于足底压力的步态检测装置。该步态检测装置包括：足底板、足底气囊和信号处理单元；足底板上设置有魔术带，魔术带用于将目标对象的脚部固定于足底板上；足底气囊有多个，多个足底气囊互不连通，且在足底板的底面上呈矩阵排列；每个足底气囊上设有气压检测孔，气压检测孔处设置有气压传感器，以对目标对象行走过程中足底气囊受压变形时，足底气囊内的气体压力进行检测；信号处理单元位于足底板上，与气压传感器电连接，用于对气压传感器检测到的足底气囊的压力信号进行处理。该装置足底气囊的变形不会带动气压传感器的受力变形，不受目标对象的踝关节外翻或内翻的影响，降低了对检测条件的要求，延长了使用寿命。
The present application provides a gait detection device based on plantar pressure. The gait detection device includes: a soleplate, a sole airbag and a signal processing unit; a magic belt is arranged on the soleplate, and the magic belt is used to fix the foot of the target object on the soleplate; The plantar airbags are not connected to each other and are arranged in a matrix on the bottom surface of the sole plate; each plantar airbag is provided with an air pressure detection hole, and an air pressure sensor is arranged at the air pressure detection hole, so as to detect the plantar airbag during the walking process of the target object. When compressed and deformed, the gas pressure in the plantar airbag is detected; the signal processing unit is located on the sole plate of the foot and is electrically connected to the air pressure sensor for processing the pressure signal of the plantar airbag detected by the air pressure sensor. The deformation of the sole airbag of the device will not drive the force deformation of the air pressure sensor, and is not affected by the valgus or varus of the ankle joint of the target object, thereby reducing the requirements for detection conditions and prolonging the service life.
Description
Technical Field
The application relates to the technical field of robots, in particular to a gait detection device based on plantar pressure.
Background
The wearable exoskeleton robot can provide functions such as power assistance, protection, body support and the like for lower limbs of people, integrates the robot technologies such as sensing, control, information acquisition, mobile computation and the like, and is a man-machine integrated system capable of completing functions and tasks such as power assistance walking and the like under the unconscious control of an operator. However, the current lower extremity exoskeleton robot still faces a plurality of problems, such as: in the walking process, different gait phases cause different torques applied by each power-assisted joint, phases such as single-leg support, single-leg swing, double-leg support and the like need to be judged to provide proper torques for each joint, and if sufficient gait phase transition does not exist, sudden changes can be generated in the distribution of the system to the torque, so that impact and vibration are generated, and the user experience and the walking stability are seriously influenced.
At present, a foot sole sensor is generally used for judging the gait phase of a human body when the human body walks, and a weighing force sensor based on a resistance strain gauge and a film type pressure sensor based on a piezoresistive effect are mostly used for detecting the foot sole pressure. The weighing force sensor based on the resistance strain gauge has better precision, but the weighing force sensor with proper measuring range has relatively larger volume and weight, is rigid and is not suitable for being arranged on the sole of a foot; the thin film type pressure sensor based on the piezoresistive effect has small volume and weight, can be stuck under an insole and is convenient to apply, but because the thin film type pressure sensor is manufactured based on a flexible circuit board manufacturing process, can only be bent at a certain curvature radius in a one-dimensional direction, has no elasticity, and is stuck inside a shoe, because the sticking position is not at a neutral layer of a sole, the sole can be bent along with the movement of a human body, the thin film type pressure sensor stuck in the direction of the insole bears periodic pressure stress, so that the internal lead is easy to break to cause the failure of the whole sensor, the service life is short, the inconsistency of each initial resistance value and the resistance change value after being pressed of the thin film type pressure sensor is also large, and the thin film type pressure sensor is strictly parallel to the ground when the sole touches the ground, otherwise, the pressure data cannot be measured, and the use condition is.
In addition, because the thickness of the film type pressure sensor is very thin, the detection requires that the pressure direction is vertical to the plane of the sensor, and after the film type pressure sensor is attached to the inside of a shoe, if some people have slight pronation and supination in gait, the pressure direction and the plane of the sensor form a certain angle to make the sensor unable to detect signals, so that misjudgment of gait can be generated, and the detection difficulty is increased.
The value of the pressure of the film-type pressure sensor after reaching a certain threshold value is used as a switching value to be matched with a set gait mode, the deviation of the resistance value of the film-type pressure sensor is large when the film-type pressure sensor leaves a factory, and the switching value of the pressure sensor is used based on the variable quantity of the resistance value, so that the film-type pressure sensor can be used only by calibrating the film-type pressure sensor one by one before the film-type pressure sensor is used, otherwise, a large error occurs, and the use difficulty and the work load are greatly increased.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
An object of the present application is to provide a gait detection device based on plantar pressure to solve or alleviate the above-mentioned problems in the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides a gait detection device based on plantar pressure, gait detection device includes: the foot sole plate, the foot sole air bag and the signal processing unit; the foot bottom plate is provided with a magic tape which is used for fixing the foot of a target object on the foot bottom plate; the sole air bags are not communicated and are arranged on the bottom surface of the sole plate in a matrix manner; each sole air bag is provided with an air pressure detection hole, and an air pressure sensor is arranged at the air pressure detection hole so as to detect the air pressure in the sole air bag when the sole air bag is pressed and deformed in the walking process of the target object; the signal processing unit is positioned on the sole plate, is electrically connected with the air pressure sensor and is used for processing the pressure signal of the sole air bag detected by the air pressure sensor.
Optionally, in any embodiment of the present application, at least two of the foot airbags are respectively disposed at two ends of the bottom surface of the foot bottom plate, and the at least two foot airbags are symmetrically arranged along a first direction, where the first direction is a width direction of the foot when the foot of the target object is fixed on the foot bottom plate.
Optionally, in any embodiment of the present application, the air pressure sensor is disposed on a surface of the air bag contacting the sole plate.
Optionally, in any embodiment of the present application, a first counterbore is further disposed on the sole airbag, the first counterbore is coaxial with the air pressure detection hole, and the air pressure sensor is disposed in the first counterbore.
Optionally, in any embodiment of the present application, a plurality of vent holes are further disposed on the sole plate, correspondingly, each of the sole airbags is further provided with an inflation hole, the inflation hole is matched with the vent hole, and a check valve is disposed at the inflation hole, so as to penetrate through the vent hole and inflate the sole airbag through the check valve.
Optionally, in any embodiment of the present application, a second counterbore is further disposed on the foot sole airbag, the second counterbore is coaxial with the inflation hole, and the check valve is disposed in the second counterbore.
Optionally, in any embodiment of the present application, the foot bladder is further provided with a wear-resistant plate, and the wear-resistant plate and the sole plate are respectively located on two opposite sides of the foot bladder.
Optionally, in any embodiment of the present application, the inflation pressure in the plantar bladder is 50-500 kpa.
Optionally, in any embodiment of the present application, the signal processing unit sends the received pressure signal of the air bag under the sole through wireless transmission.
Optionally, in any embodiment of the present application, the magic tape includes: the foot front magic belt and the foot rear magic belt are fixedly arranged on one end of the foot bottom plate through bonding or screw fastening respectively; two ends of the rear foot magic belt are respectively fixed at the other end of the foot bottom plate through bonding or screw fastening.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
according to the gait detection device based on the plantar pressure, the foot of a target object is fixed on the foot bottom plate through the magic belt arranged on the foot bottom plate; the gait detection device can be worn by a target object in a state of wearing shoes of the target object, shoes do not need to be taken off, the problem of foot health possibly caused by wearing one gait detection device by multiple people is avoided, and the gait detection device does not need to be disinfected after being penetrated, so that the wearing flow is simple.
The bottom surface of the sole plate is provided with a plurality of sole airbags which are arranged in a matrix and mutually independent and not communicated, and when the sole airbags are pressed and deformed in the walking process of a target object through an air pressure sensor arranged at an air pressure detection hole of the sole airbags, the air pressure in the sole airbags is detected and sent to the signal processing unit. On one hand, because the foot bottom air bags are arranged on the foot bottom plate in a matrix manner, the foot bottom air bags have certain thickness, and different target objects are pressed against the eversion or the inversion of the ankle joints in the walking process, the change of the volume of the foot bottom air bags causes the change of the gas pressure in the foot bottom air bags to be transmitted to the gas pressure sensor, so that the gait detection device is not influenced by the eversion or the inversion of the ankle joints of the target objects, and the requirement on the detection condition is reduced; on the other hand, the foot bottom air bags are arranged on the foot bottom plate in a matrix mode, the air pressure sensor is arranged at the air pressure detection hole on the foot bottom air bags, and the deformation of the foot bottom air bags cannot drive the stress deformation of the air pressure sensor in the walking process of a target object, so that the service life of the gait detection device is greatly prolonged.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
fig. 1 is a schematic structural diagram of a plantar pressure based gait detection device according to some embodiments of the present application;
FIG. 2 is a schematic view of the distribution of plantar bladder on the plantar plate provided in accordance with some embodiments of the present application;
FIG. 3 is a schematic structural view of a plantar bladder provided in accordance with some embodiments of the present application;
FIG. 4 is a schematic diagram of a configuration of an air pressure sensor with temperature compensation according to some embodiments of the present application;
FIG. 5 is a system diagram of a signal processing unit according to some embodiments of the present application;
FIG. 6 is a schematic diagram of pressure sensor measurements on the bladder of the sole of a foot during inversion or eversion of the foot according to some embodiments of the present application;
FIG. 7 is a schematic diagram of detection of a membrane-type pressure sensor during inversion or eversion of the foot provided in accordance with some embodiments of the present application.
Description of reference numerals:
1-wear resistant sheet; 2-plantar air cells; 3-a one-way valve; 4-a barometric sensor; 5-plantar plate; 6-forefoot magic tape; 7-hind foot magic tape; 8-a signal processing unit; 9-a wire; 10-inflation holes; 11-air pressure detection holes; 12-a circuit module; 13-a battery module; 14-a vent hole; 15-air intake; 16-inert gas; 17-a foot part; 18-thin film type pressure sensor.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
Fig. 1 is a schematic structural diagram of a plantar pressure based gait detection device according to some embodiments of the present application; FIG. 2 is a schematic view of the distribution of plantar bladder on the plantar plate provided in accordance with some embodiments of the present application; as shown in fig. 1 and 2, the gait detection device includes: a sole plate 5, a sole air bag 2 and a signal processing unit 8; a magic tape is arranged on the sole plate 5 and used for fixing the foot 17 of the target object on the sole plate 5; the number of the sole airbags 2 is multiple, the sole airbags 2 are not communicated with each other and are arranged on the ground of the sole plate 5 in a matrix manner; each sole airbag 2 is provided with an air pressure detection hole 11, and an air pressure sensor 4 is arranged at the air pressure detection hole 11 so as to detect the air pressure in the sole airbag 2 when the sole airbag 2 is pressed and deformed in the walking process of the target object; the signal processing unit 8 is located on the sole plate 5, electrically connected to the air pressure sensor 4, and configured to process the pressure signal of the foot sole airbag 2 detected by the air pressure sensor 4. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the present embodiment, the foot 17 of the target subject is fixed on the footplate 5 by a magic tape provided on the footplate 5; the gait detection device can be worn by a target object in a state of wearing shoes of the target object, shoes do not need to be taken off, the problem of foot health possibly caused by wearing one gait detection device by multiple people is avoided, and the gait detection device does not need to be disinfected after being penetrated, so that the wearing flow is simple. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, a plurality of sole airbags 2 which are arranged in a matrix and are independent and not communicated with each other are disposed on the bottom surface of the sole plate 5, and when the sole airbags 2 of a target object are pressed and deformed during walking through the air pressure sensor 4 disposed at the air pressure detection hole 11 of the sole airbags 2, the air pressure in the sole airbags 2 is detected and sent to the signal processing unit 8. The sole airbags 2 are arranged on the sole plate 5 in a matrix mode, the sole airbags 2 have certain thickness, and the sole airbags 2 arranged on the sole plate 5 are pressed aiming at the eversion or the inversion of the ankle joints in the walking process of different target objects, so that the change of the volume of the sole airbags 2 causes the change of the gas pressure in the sole airbags 2 to be transmitted to the gas pressure sensor 4, the gait detection device is not influenced by the eversion or the inversion of the ankle joints of the target objects, and the requirement on the detection condition is reduced. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the air inlet 15 of the air pressure sensor 4 is communicated with the air pressure detection hole 11, so that the chip of the air pressure sensor 4 is arranged in the foot air bag 2, the foot air bag 2 is arranged on the foot bottom plate 5 in a matrix manner, in the walking process of a target object, the foot air bag 2 is in contact with the ground and is pressed, the foot air bag 2 is deformed to cause air pressure change, the deformation of the foot air bag 2 cannot drive the stress deformation of the air pressure sensor 4, and the service life of the gait detection device is greatly prolonged. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, each foot bottom air bag 2 is provided with an air pressure sensor 4, the air pressure sensor 4 is electrically connected with a signal processing unit 8, and pressure signals of air in the foot bottom air bag 2 are transmitted to the signal processing unit 8; because the consistency of the air pressure sensor 4 is better, the calibration is not needed to be carried out one by one like the thin film type pressure sensor 18 before the use, and the use difficulty and the workload of the gait detection device are effectively reduced. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the air pressure sensor 4 may also be connected to the upper portion of the air bag 2 by bonding, and the air inlet 15 of the air pressure sensor 4 is communicated with the air pressure detecting hole 11 of the air bag 2. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, at least two of the foot bladders 2 are respectively disposed at two ends of the bottom surface of the sole plate 5, and the at least two foot bladders 2 are symmetrically arranged along a first direction, wherein the first direction is a width direction of the foot 17 when the foot 17 of the target object is fixed on the sole plate 5. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the plurality of foot sole airbags 2 are arranged on the sole plate 5 in a matrix manner, at least two foot sole airbags 2 symmetrically arranged along the width direction of the foot 17 are arranged at the corresponding positions of the foot sole at two ends of the bottom surface of the sole plate 5, i.e., in the length direction of the foot 17 of the target object, and at least two foot sole airbags 2 symmetrically arranged along the width direction of the foot 17 are arranged at the corresponding positions of the heel. Therefore, when the ankle joints of different target objects are turned outwards or inwards, the sole airbags 2 arranged in the matrix are pressed to deform, and the target objects with different walking postures are effectively detected. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the air bags 2 are distributed on the bottom surface of the sole plate 5 in a matrix manner and are connected to the bottom surface of the sole plate 5 by an adhesive manner, a plurality of air bags 2 (for example, 4 to 100) are arranged along the width direction of the foot 17 of the target object, at least 2 rows of air bags 2 are arranged on the heel and the forefoot, at least two rows of air bags 2 are arranged in the length direction of the foot 17, the air bags 2 are not communicated with each other and are independent of each other, and the pressure of the inert gas 16 filled in each air bag 2 is 50 to 500 kpa (for example, 50 kpa, 100 kpa, 150 kpa, 200 kpa, 300 kpa, 450 kpa or 500 kpa). It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some alternative embodiments, the air pressure sensor 4 is disposed on the side of the air bag 2 that contacts the sole plate 5. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the air pressure sensor 4 is disposed on the upper portion of the air bag 2, that is, the air pressure sensor 4 is disposed between the air bag 2 and the sole plate 5, whereby the air bag 2 is pressed and deformed during walking of the subject, and the air pressure sensor 4 is not deformed, which greatly increases the service life compared to the film-type pressure sensor 18. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
FIG. 3 is a schematic view of the construction of a plantar bladder 2 provided in accordance with some embodiments of the present application; as shown in fig. 3, the air bag 2 is further provided with a first counter bore, the first counter bore is coaxial with the air pressure detection hole 11, and the air pressure sensor 4 is disposed in the first counter bore. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first counter bore is coaxial with the air pressure detection hole 11, and the air pressure sensor 4 is installed in the first counter bore and located on the upper portion of the sole airbag 2, so that when the sole airbag 2 is connected to the sole plate 5, the influence on the air pressure sensor 4 can be effectively avoided. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this application embodiment, place baroceptor 4 in first counter bore, plantar gasbag 2 can effectually avoid baroceptor 4 compressive deformation when the compressive deformation, improves baroceptor 4's life. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the axial section of the part consisting of the first counter bore and the air pressure detection hole 11 is T-shaped, so that the air pressure sensor 4 is positioned in the first counter bore above the T-shaped structure, and the chip of the air pressure sensor 4 is arranged in the sole air bag 2 through the air pressure detection hole 11, so that the air pressure sensor 4 is effectively protected. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, a plurality of vent holes 14 are further disposed on the sole plate 5, correspondingly, each sole airbag 2 is further provided with an inflation hole 10, the inflation hole 10 is adapted to the vent hole 14, and a one-way valve 3 is disposed at the inflation hole 10 so as to pass through the vent hole 14 and inflate the sole airbag 2 through the one-way valve 3. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the number of the vent holes 14 formed on the sole plate 5 is the same as that of the air bags 2 on the sole, and the positions of the vent holes 14 are consistent with that of the check valve 3, so that the air bags 2 on the sole can be inflated through the vent holes 14 through the check valve 3. The check valve 3 can be adhered to the upper portion of the air bag 2 through the air filling hole 10 of the air bag 2. Therefore, the pressure in the sole air bag 2 can be controlled in time, and the accuracy of pressure detection in the sole air bag 2 is ensured. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific example, the foot airbag 2 is further provided with a second counter bore, the second counter bore is coaxial with the inflation hole 10, and the check valve 3 is arranged in the second counter bore. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the check valve 3 is disposed in the second counterbore, so that when the air bag 2 is connected to the sole plate 5, the influence on the check valve 3 can be effectively avoided. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the axial section of the part consisting of the second counter bore and the inflation hole 10 is T-shaped, so that the check valve 3 is positioned in the second counter bore above the T-shaped structure, when the air bag 2 on the sole is pressed to deform, the check valve 3 cannot deform due to pressure, and the service life of the check valve 3 is effectively prolonged. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the inert gas 16 is filled into the foot airbag 2 through the check valve 3 after passing through the vent hole 14 on the sole plate 5, and due to the action of the check valve 3, the inert gas 16 in the foot airbag 2 is difficult to leak outwards through the inflation hole 10, so that the airtightness of the foot airbag 2 is effectively ensured. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the sole airbag 2 can be processed by an injection molding process, and the check valve 3 and the air pressure sensor 4 can be arranged in an injection molding grinding tool of the sole airbag 2 in the injection molding process of the sole airbag 2 and directly coated by an injection molding material. Namely, after the injection molding of the sole airbag 2 is finished, the one-way valve 3 and the air pressure sensor 4 are coated in the sole airbag 2. Therefore, the processing efficiency is effectively improved, and the manufacturing procedures are reduced. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the foot bladder 2 is further provided with a wear-resistant plate 1, and the wear-resistant plate 1 and the sole plate 5 are respectively located on two opposite sides of the foot bladder 2. Therefore, the sole air bag 2 is prevented from being directly contacted and rubbed with the ground in the walking process of the target object, and the sole air bag 2 is effectively protected. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
FIG. 4 is a schematic diagram of a configuration of an air pressure sensor 4 with temperature compensation according to some embodiments of the present application; as shown in fig. 4, the air pressure sensor 4 is a sensor with temperature compensation, so as to effectively eliminate the pressure change in the sole airbag 2 caused by the change (increase or decrease) of the ambient temperature, bring influence to the pressure signal detection, and improve the accuracy and effectiveness of the pressure detection. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the signal processing unit 8 sends the received pressure signal of the air bag under the sole 2 by wireless transmission. Therefore, during the walking process of the target object, the detected pressure signals of the foot air bags 2 can be sent to the receiving device in real time, so that the pressure signals can be analyzed to determine the gait phase of the target object. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
FIG. 5 is a system diagram of a signal processing unit 8 according to some embodiments of the present application; as shown in fig. 5, the signal processing unit 8 is provided with a circuit module 12 and a battery module 13, the circuit module 12 is electrically connected to the air pressure sensor 4 through a lead 9, and is configured to transmit a received pressure signal of the foot sole airbag 2 to a receiving device in a wireless transmission manner, and the battery module 13 is configured to supply power to the circuit module 12. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment of the present application, according to the measurement range and the accuracy of the barometric sensor 4, the minimum detection capability of the barometric sensor 4 can be determined, and the barometric sensor 4 can be divided into n pressure detection intervals according to the minimum detection capability, where n is a positive integer, and the maximum value of n is the ratio of the measurement range of the barometric sensor 4 to the minimum detection capability. Since the plurality of foot bladders 2 are arranged in a matrix on the sole plate 5, the number of gait phase patterns can be defined as n × m, based on the number of lines (assuming m lines, m is a positive integer, and m is equal to or greater than 2) of the foot bladders 2 distributed on the sole plate 5 in the direction of travel. In the walking process of the target object, the pressure signal obtained by detecting the pressure in the sole air bag 2 in real time by the air pressure sensor 4 is an analog quantity, and the gait phase of the target object at the moment can be calculated by matching the average value of the pressure value of each exhaust pressure sensor 4 along the width direction of the sole with the defined gait mode. In the conventional case where the air pressure sensor 4 uses a single switching value, the number of gait phase patterns is only m, and the resolution of the pressure change of the air bag 2 on the sole is low. Therefore, the pressure change of the foot sole air bag 2 is detected in real time by using the analog quantity, and the air pressure sensor 4 is divided into a plurality of pressure detection sections according to needs, so that the gait detection precision of the target object can be effectively improved, and the gait detection device has stronger adaptability. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the magic tape includes: the foot front magic belt 6 and the foot rear magic belt 7 are respectively fixed at two ends of the foot front magic belt 6 at one end of the foot bottom plate 5 through bonding or screw fastening; two ends of the rear foot magic belt 7 are respectively fixed at the other end of the foot bottom plate 5 through bonding or screw fastening. Therefore, the feet 17 of the target objects can be effectively and quickly fixed on the sole plate 5, and when different target objects are tested, the target objects do not need to take off shoes, namely the target objects are convenient to wear, and the foot hygiene problem is avoided. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
According to the gait detection device based on the plantar pressure, on one hand, the plantar pressure is detected through the deformation of the plantar air bag 2, the structure is compact, the weight is light, the power consumption is low, the service life is long, and the gait detection device can be better used for detecting the gait phase of the exoskeleton robot in the walking process along with a target object, so that the moment of each joint of the exoskeleton robot can be effectively and accurately distributed, and the flexible control of the exoskeleton robot is realized; on the other hand, in the walking process of the target object, due to the buffering effect of the foot sole air bag 2, the target object has a good buffering effect in the walking process, and joint damage of the target object is avoided; on the other hand, due to the deformation characteristic of the foot sole air bag 2, when the gait detection device is in contact with the ground, even if the gait detection device has a certain inclination angle with the ground, the inert gas 16 can flow in the foot sole air bag 2 due to the deformation of the foot sole air bag 2, so that the pressure change in the foot sole air bag 2 is detected (as shown in fig. 6), the function that the thin film type pressure sensor 18 cannot effectively measure the pressure of the foot sole under the state that the foot part has an inclination angle with the ground (as shown in fig. 7) is realized, and better annular adaptability can be realized. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
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