CN112304480B - A gait detection device based on plantar pressure - Google Patents
A gait detection device based on plantar pressure Download PDFInfo
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- CN112304480B CN112304480B CN202011303836.0A CN202011303836A CN112304480B CN 112304480 B CN112304480 B CN 112304480B CN 202011303836 A CN202011303836 A CN 202011303836A CN 112304480 B CN112304480 B CN 112304480B
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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
The application provides a gait detection device based on plantar pressure. The gait detection device comprises a foot bottom plate, plantar airbags and a signal processing unit, wherein a magic tape is arranged on the foot bottom plate and used for fixing the foot of a target object on the foot bottom plate, the plantar airbags are not communicated with each other and are arranged in a matrix on the bottom surface of the plantar plate, each plantar airbag is provided with an air pressure detection hole, an air pressure sensor is arranged at the air pressure detection hole so as to detect the air pressure in the plantar airbags when the plantar airbags are pressed and deformed in the walking process of the target object, and the signal processing unit is positioned on the foot bottom plate and electrically connected with the air pressure sensor and used for processing the pressure signals of the plantar airbags detected by the air pressure sensor. The deformation of the plantar gasbag of the device can not drive the stress deformation of the air pressure sensor, is not influenced by the eversion or the varus of the ankle joint of the target object, reduces the requirement on detection conditions, and prolongs 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 robot technologies such as sensing, control, information acquisition, mobile calculation 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 unconscious control of an operator. The existing lower limb exoskeleton robot still faces various problems, such as different applied torques of various power-assisted joints caused by different gait phases in the walking process, and proper torques are required to be provided for various joints by distinguishing phases such as single leg support, single leg swing, double leg support and the like, if enough gait phase transition is not available, the distribution of the moment by the system is abrupt, so that impact and vibration are generated, and the user experience and the walking stability are seriously affected.
Currently, a plantar sensor is generally used for judging gait phases when a 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 used for detecting plantar pressure. The thin film type pressure sensor based on the piezoresistive effect has smaller volume and weight, can be pasted under insoles, is convenient to apply, but can only bend with a certain curvature radius in one dimension and has no elasticity because the thin film type pressure sensor is manufactured based on a flexible circuit board manufacturing process, after being pasted in shoes, the thin film type pressure sensor pasted in the insole direction can bear periodical compressive stress because the pasting position is not in a neutral layer of the soles, and the soles can bend along with the movement of a human body, so that the internal lead is extremely easy to break to cause the failure of the whole sensor, the service life is shorter, the inconsistency of the initial resistance value of each thin film type pressure sensor and the resistance change value after being pressed is also larger, the thin film type pressure sensor is strictly parallel to the ground when the soles touch the ground, otherwise, the pressure data cannot be measured, and the service condition is more harsh.
In addition, because the thickness of the film type pressure sensor is very thin, the detection requirement pressure direction is perpendicular to the plane of the sensor, after the film type pressure sensor is attached to the inside of a shoe, if a person has slight foot inside-out turning, the pressure direction and the plane of the sensor form a certain angle, so that the sensor cannot detect signals, false judgment of gait can be generated, and the detection difficulty is increased.
The value based on the film type pressure sensor after the pressure reaches a certain threshold value is used as the switching value to be matched with the set gait pattern, and as the resistance value deviation is larger when the film type pressure sensor leaves the factory, the switching value of the pressure sensor is based on the variable quantity of the resistance value, the film type pressure sensor can be used only by calibrating one by one before the pressure sensor is used, otherwise, great errors occur, and the using difficulty and the workload are greatly increased.
Accordingly, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The application aims to provide a gait detection device based on plantar pressure, which solves or alleviates the problems in the prior art.
In order to achieve the above object, the present application provides the following technical solutions:
The application provides a gait detection device based on plantar pressure, which comprises a foot bottom plate, plantar airbags and a signal processing unit, wherein a magic tape is arranged on the foot bottom plate and used for fixing the foot of a target object on the foot bottom plate, the plantar airbags are not communicated with each other and are arranged in a matrix on the bottom surface of the foot bottom plate, each plantar airbag is provided with an air pressure detection hole, an air pressure sensor is arranged at each air pressure detection hole so as to detect the air pressure in the plantar airbags when the plantar airbags are pressed and deformed in the walking process of the target object, and the signal processing unit is positioned on the foot bottom plate and electrically connected with the air pressure sensor and used for processing the pressure signals of the plantar airbags detected by the air pressure sensor.
Optionally, in any embodiment of the present application, at least two plantar airbags are respectively provided at two ends of a bottom surface of the plantar plate, and the at least two plantar airbags are symmetrically arranged along a first direction, wherein the first direction is a width direction of the foot when the foot of the target object is fixed on the plantar plate.
Optionally, in any embodiment of the present application, the air pressure sensor is disposed on a surface of the plantar bladder that contacts the plantar plate.
Optionally, in any embodiment of the present application, a first counterbore is further provided on the plantar gasbag, the first counterbore is coaxial with the air pressure detecting hole, and the air pressure sensor is disposed in the first counterbore.
Optionally, in any embodiment of the present application, a plurality of ventilation holes are further provided on the sole plate, and corresponding ventilation holes are further provided on each sole air bag, the ventilation holes are adapted to the ventilation holes, and a one-way valve is provided at the ventilation holes, so as to allow the sole air bag to be inflated through the ventilation holes via the one-way valve.
Optionally, in any embodiment of the present application, a second counterbore is further provided on the plantar gasbag, the second counterbore is coaxial with the inflation hole, and the one-way valve is disposed in the second counterbore.
Optionally, in any embodiment of the present application, wear-resisting sheets are further disposed on the plantar gasbag, and the wear-resisting sheets and the plantar board are respectively located on two opposite sides of the plantar gasbag.
Optionally, in any embodiment of the present application, the inflation pressure in the plantar bladder is 50-500 kilopascals.
Optionally, in any embodiment of the present application, the signal processing unit sends the received pressure signal of the plantar gasbag through a wireless transmission mode.
Optionally, in any embodiment of the application, the magic tape comprises a forefoot magic tape and a postfoot magic tape, wherein two ends of the forefoot magic tape are respectively fixed on one end of the foot bottom plate through bonding or screw fastening, and two ends of the postfoot magic tape are respectively fixed on 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:
The gait detection device based on plantar pressure provided by the embodiment of the application can fix the feet of the target object on the sole plate through the magic tape arranged on the sole plate, so that the target object can wear the gait detection device in a state of wearing shoes of the target object without taking off shoes, the problem of foot health possibly caused by wearing one gait detection device by multiple people is avoided, disinfection is not needed after the gait detection device passes through, and the wearing process is simple.
The bottom surface of the sole plate is provided with a plurality of sole air bags which are arranged in a matrix and are mutually independent and not communicated, and when the sole air bags are pressed and deformed in the walking process of a target object, the air pressure in the sole air bags is detected by the air pressure sensors arranged at the air pressure detection holes of the sole air bags and is sent to the signal processing unit. On one hand, the plantar airbags are arranged on the sole plate in a matrix mode, the plantar airbags have certain thickness, different target objects are pressed against eversion or varus of ankle joints in the walking process, the plantar airbags arranged on the sole plate are changed in volume to cause the change of gas pressure in the plantar airbags to be transmitted to the gas pressure sensor, the gait detection device is not affected by eversion or varus of the ankle joints of the target objects, and the requirements on detection conditions are reduced, on the other hand, the plantar airbags are arranged on the sole plate in a matrix mode, the gas pressure sensor is arranged at the gas pressure detection holes on the plantar airbags, and in the walking process of the target objects, deformation of the plantar airbags can not drive the forced deformation of the gas pressure sensor, so that the service life of the gait detection device is greatly prolonged.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. Wherein:
Fig. 1 is a schematic structural diagram of a gait detection apparatus based on plantar pressure according to some embodiments of the application;
FIG. 2 is a schematic illustration of a plantar bladder distribution on a sole plate provided in accordance with some embodiments of the present application;
FIG. 3 is a schematic view of a plantar bladder according to some embodiments of the present application;
FIG. 4 is a schematic diagram of a barometric pressure sensor with temperature compensation according to some embodiments of the application;
FIG. 5 is a system diagram of a signal processing unit according to some embodiments of the application;
FIG. 6 is a schematic illustration of detection of an air pressure sensor on a plantar bladder during varus or valgus of a foot according to some embodiments of the present application;
fig. 7 is a schematic diagram of detection of a membrane-type pressure sensor during varus or valgus according to some embodiments of the present application.
Reference numerals illustrate:
1-wear-resistant piece, 2-plantar gasbag, 3-check valve, 4-air pressure sensor, 5-foot bottom plate, 6-forefoot magic tape, 7-postfoot magic tape, 8-signal processing unit, 9-wire, 10-inflation hole, 11-air pressure detection hole, 12-circuit module, 13-battery module, 14-vent hole, 15-air inlet hole, 16-inert gas, 17-foot, 18-film type pressure sensor.
Detailed Description
The application will be described in detail below with reference to the drawings in connection with embodiments. The examples are provided by way of explanation of the application and not limitation of the application. Indeed, 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 example, features illustrated or described as part of one embodiment can be used on another embodiment to yield still a further embodiment. Accordingly, it is intended that the present application encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. refer to the orientation or positional relationship based on that shown in the drawings, merely for convenience of description of the present application and do not require that the present application must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are to be construed broadly, and may be, for example, fixedly connected or detachably connected, directly connected or indirectly connected through intermediate members, or may be a wired electrical connection, a radio connection, or a wireless communication signal connection, as will be understood by those skilled in the art, depending on the particular meaning of the terms.
Fig. 1 is a schematic structural view of a gait detection apparatus based on plantar pressure according to some embodiments of the present application, fig. 2 is a schematic structural view of a plantar pressure-based gait detection apparatus provided according to some embodiments of the present application, and as shown in fig. 1 and 2, the gait detection apparatus includes a plantar plate 5, plantar pressure-based air bags 2, and a signal processing unit 8, wherein a magic tape is disposed on the plantar plate 5, the magic tape is used for fixing a target foot 17 on the plantar plate 5, the plantar pressure-based air bags 2 are not communicated with each other, and are arranged in a matrix on the ground of the plantar plate 5, each plantar pressure-based air bag 2 is provided with an air pressure detection hole 11, and an air pressure sensor 4 is disposed at the air pressure detection hole 11, so as to detect the air pressure in the plantar pressure-based air bags 2 when the plantar pressure-based air bags 2 are deformed under pressure during the target walking, and the signal processing unit 8 is disposed on the plantar plate 5 and electrically connected with the air pressure sensor 4, so as to process the air pressure signals detected by the plantar pressure sensor 4. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the target object's foot 17 is fixed on the sole plate 5 through the magic tape arranged on the sole plate 5, so that the target object can wear the gait detection device in a state of wearing own shoes without taking off shoes, thereby avoiding the foot health problem possibly caused by wearing one gait detection device by multiple people, and the wearing process is simple without disinfection after passing through. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, a plurality of sole air bags 2 which are arranged in a matrix and are mutually independent and not communicated are arranged on the bottom surface of the sole plate 5, and when the target object is pressed and deformed by the sole air bags 2 in the walking process, the air pressure in the sole air bags 2 is detected by the air pressure sensor 4 arranged at the air pressure detection holes 11 of the sole air bags 2 and is sent to the signal processing unit 8. Because the plantar air bags 2 are arranged on the plantar plate 5 in a matrix mode, the plantar air bags 2 have certain thickness, and different target objects are pressed against eversion or varus of the ankle joint in the walking process, the change of the volume of the plantar air bags 2 causes the change of the gas pressure in the plantar air bags 2 to be transmitted to the gas pressure sensor 4, so that the gait detection device is not affected by eversion or varus of the ankle joint of the target object, and the requirement on detection conditions is reduced. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the air inlet hole 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 plantar air bag 2, the plantar air bag 2 is arranged on the plantar plate 5 in a matrix mode, and in the walking process of a target object, the plantar air bag 2 is contacted and pressed on the ground, so that the plantar air bag 2 deforms to cause air pressure change, the deformation of the plantar air bag 2 can not drive the stressed deformation of the air pressure sensor 4, and the service life of the gait detection device is greatly prolonged. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, each plantar air bag 2 is provided with one air pressure sensor 4, the air pressure sensors 4 are electrically connected with the signal processing unit 8, and the pressure signals of the air in the plantar air bags 2 are transmitted to the signal processing unit 8, and because the consistency of the air pressure sensors 4 is better, the air pressure sensors do not need to be calibrated one by one like the film type pressure sensor 18 before use, and the use difficulty and the workload of the gait detection device are effectively reduced. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the present application, the air pressure sensor 4 may be connected to the upper portion of the plantar airbag 2 by bonding, and the air inlet hole 15 of the air pressure sensor 4 is communicated with the air pressure detecting hole 11 of the plantar airbag 2. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In some alternative embodiments, at least two plantar airbags 2 are respectively disposed at two ends of the bottom surface of the plantar plate 5, and the at least two plantar airbags 2 are symmetrically disposed 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 plantar plate 5. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the present application, a plurality of plantar airbags 2 are arranged in a matrix on the plantar plate 5, at least two plantar airbags 2 symmetrically arranged along the width direction of the foot 17 are arranged at corresponding positions of the forefoot sole in the length direction of the foot 17 of the target object at two ends of the bottom surface of the plantar plate 5, and at least two plantar airbags 2 symmetrically arranged along the width direction of the foot 17 are arranged at corresponding positions of the heel sole. Therefore, the plantar airbags 2 which are arranged in a matrix form are respectively provided with corresponding plantar airbags 2 which are pressed and deformed for the eversion or the inversion of ankle joints of different target objects, so that the effective detection of the target objects with different walking postures is realized. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the present application, the plantar airbags 2 are distributed on the bottom surface of the plantar plate 5 in a matrix manner and are connected to the bottom surface of the plantar plate 5 in an adhesive manner, a plurality of plantar airbags 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 plantar airbags 2 are arranged on the heel and the forefoot, at least two rows of plantar airbags 2 are arranged along the length direction of the foot 17, the plantar airbags 2 are not communicated with each other and are independent from each other, and the pressure of the inert gas 16 filled in each plantar airbag 2 is 50 to 500 kilopascals (for example, 50 kilopascals, 100 kilopascals, 150 kilopascals, 200 kilopascals, 300 kilopascals, 450 kilopascals or 500 kilopascals). It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In some alternative embodiments, the air pressure sensor 4 is disposed on the sole bladder 2 on the side that contacts the sole plate 5. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the air pressure sensor 4 is arranged at the upper part of the plantar air bag 2, namely, the air pressure sensor 4 is positioned between the plantar air bag 2 and the plantar plate 5, so that the plantar air bag 2 is pressed and deformed in the process of walking of a target object, the air pressure sensor 4 cannot be deformed, and the service life is greatly prolonged compared with that of the film-type pressure sensor 18. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
Fig. 3 is a schematic structural diagram of a plantar bladder 2 according to some embodiments of the present application, and as shown in fig. 3, the plantar bladder 2 is further provided with a first counterbore, the first counterbore is coaxial with the air pressure detecting hole 11, and the air pressure sensor 4 is disposed in the first counterbore. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the first counter bore is coaxial with the air pressure detection hole 11, and the air pressure sensor 4 is arranged in the first counter bore and is positioned at the upper part of the plantar gasbag 2, so that the influence on the air pressure sensor 4 can be effectively avoided when the plantar gasbag 2 is connected with the plantar plate 5. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the air pressure sensor 4 is arranged in the first counter bore, so that the air pressure sensor 4 can be effectively prevented from being deformed under pressure when the plantar air bag 2 is deformed under pressure, and the service life of the air pressure sensor 4 is prolonged. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
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 plantar air bag 2 through the air pressure detection hole 11, so that effective protection is formed on the air pressure sensor 4. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In some alternative embodiments, the sole plate 5 is further provided with a plurality of ventilation holes 14, and correspondingly, each sole air bag 2 is further provided with an inflation hole 10, the inflation hole 10 is matched with the ventilation hole 14, and a one-way valve 3 is arranged at the inflation hole 10 so as to penetrate through the ventilation hole 14 and inflate the sole air bag 2 through the one-way valve 3. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the number of the vent holes 14 formed in the sole plate 5 is the same as that of the plantar airbags 2, and the positions of the vent holes 14 are consistent with those of the one-way valves 3 so as to enable the plantar airbags 2 to be inflated through the one-way valves 3 by passing through the vent holes 14. The check valve 3 may be adhered to the upper portion of the plantar bladder 2 through the inflation hole 10 on the plantar bladder 2. Therefore, the pressure in the plantar airbag 2 can be controlled timely, and the accuracy of pressure detection in the plantar airbag 2 is guaranteed. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In a specific example, the plantar bladder 2 is further provided with a second counterbore, the second counterbore is coaxial with the inflation hole 10, and the check valve 3 is disposed in the second counterbore. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the check valve 3 is arranged in the second counter bore, so that the influence on the check valve 3 can be effectively avoided when the plantar gasbag 2 is connected with the plantar plate 5. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the shaft section of the part formed by the second counter bore and the inflation hole 10 is T-shaped, so that the one-way valve 3 is positioned in the second counter bore above the T-shaped structure, and when the plantar gasbag 2 is pressed and deformed, the one-way valve 3 cannot be deformed due to pressure, thereby effectively prolonging the service life of the one-way valve 3. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the inert gas 16 is filled into the plantar gasbag 2 through the one-way valve 3 by passing through the vent hole 14 on the sole plate 5, and the inert gas 16 in the plantar gasbag 2 is difficult to leak outwards through the air filling hole 10 due to the effect of the one-way valve 3, so that the tightness of the plantar gasbag 2 is effectively ensured. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the plantar airbag 2 can be processed by an injection molding process, and the one-way valve 3 and the air pressure sensor 4 can be placed in an injection molding grinding tool of the plantar airbag 2 in the injection molding process of the plantar airbag 2 and are directly coated by injection molding materials. Namely, after the plantar gasbag 2 is molded, the one-way valve 3 and the air pressure sensor 4 are covered in the plantar gasbag 2. Therefore, the processing efficiency is effectively improved, and the manufacturing procedures are reduced. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In some alternative embodiments, the plantar bladder 2 is further provided with wear plates 1, and the wear plates 1 and the plantar plate 5 are respectively located on two opposite sides of the plantar bladder 2. Thereby, during the walking of the target object, the sole air bag 2 is prevented from directly contacting and rubbing with the ground, and the sole air bag 2 is effectively protected. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
Fig. 4 is a schematic diagram of a temperature-compensated barometric sensor 4 according to some embodiments of the application, and as shown in fig. 4, the barometric sensor 4 is a temperature-compensated sensor, so as to effectively eliminate pressure changes in the plantar bladder 2 caused by changes (increases or decreases) in ambient temperature, affect pressure signal detection, and improve accuracy and effectiveness of pressure detection. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In some alternative embodiments, the signal processing unit 8 sends the received pressure signal of the plantar bladder 2 by wireless transmission. Thereby, during the walking of the target object, the detected pressure signals of the plantar airbags 2 can be transmitted to the receiving device in real time, so that the pressure signals can be analyzed, and the gait phase of the target object can be determined. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
Fig. 5 is a system schematic diagram of a signal processing unit 8 according to some embodiments of the present application, and as shown in fig. 5, a circuit module 12 and a battery module 13 are disposed in the signal processing unit 8, where the circuit module 12 is electrically connected to the air pressure sensor 4 through a wire 9, and is used for transmitting a received pressure signal of the plantar air bag 2 to a receiving device through a wireless transmission manner, and the battery module 13 is used for supplying power to the circuit module 12. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In the embodiment of the application, the minimum detection capability of the air pressure sensor 4 can be determined according to the measuring range and the precision of the air pressure sensor 4, and the air pressure sensor 4 can be divided into n pressure detection sections according to the minimum detection capability, wherein n is a positive integer, and the maximum value of n is the ratio of the measuring range and the minimum detection capability of the air pressure sensor 4. Since the plurality of plantar airbags 2 are arranged in a matrix on the plantar plate 5, the number of gait phase patterns can be defined as n×m, based on the number of rows (assuming that m rows, m is a positive integer, and m is 2 or more) of the plantar airbags 2 distributed in the widthwise direction on the plantar plate 5. In the walking process of the target object, the pressure signal obtained by detecting the pressure in the plantar airbag 2 in real time by the air pressure sensor 4 is taken as 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 values of each exhaust pressure sensor 4 along the plantar width direction with a defined gait pattern. In contrast, in the conventional air pressure sensor 4, the number of gait phase patterns is only m in the case of using a single switching value, and the resolution of the pressure change of the plantar airbag 2 is low. Therefore, the pressure change of the plantar airbag 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 as needed, so that the accuracy of gait detection of the target object can be effectively improved, and the adaptability of the gait detection apparatus is enhanced. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
In some alternative embodiments, the magic tape comprises a pre-foot magic tape 6 and a post-foot magic tape 7, wherein two ends of the pre-foot magic tape 6 are respectively fixed at one end of the plantar plate 5 through bonding or screw fastening, and two ends of the post-foot magic tape 7 are respectively fixed at the other end of the plantar plate 5 through bonding or screw fastening. Therefore, the foot 17 of the target object can be effectively and quickly fixed on the sole plate 5, and the target object is not required to be taken off when different target objects are tested, so that the foot sole is convenient to wear, and the problem of foot sanitation is avoided. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
The gait detection device based on plantar pressure in the embodiment of the application has the advantages of compact structure, light weight, low power consumption and long service life by detecting plantar pressure through the deformation of the plantar airbag 2, and 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, the flexible control of the exoskeleton robot is realized, on the other hand, the target object has better buffering effect in the walking process of the target object due to the buffering effect of the plantar airbag 2, the joint injury of the target object is avoided, on the other hand, the gait detection device based on plantar pressure can be better annular in shape even if the gait detection device contacts with the ground due to the deformation characteristic of the plantar airbag 2, the inert gas 16 can flow in the plantar airbag 2, so that the pressure change in the plantar airbag 2 is detected (as shown in fig. 6), and the function of the plantar pressure in the plantar airbag 2 (as shown in fig. 7) can not be effectively measured in the state that the foot and the ground has an inclination angle is realized, and the annular adaptability is better. It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
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| CN113059568A (en) * | 2021-04-07 | 2021-07-02 | 哈尔滨理工大学 | a multifunctional foot |
| CN113567026B (en) * | 2021-08-09 | 2023-05-26 | Oppo广东移动通信有限公司 | Limb part and intelligent machine device |
| CN119246127B (en) * | 2024-12-05 | 2025-03-04 | 常州检验检测标准认证研究院 | A humanoid robot whole machine performance testing device |
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| CN109115386A (en) * | 2018-09-30 | 2019-01-01 | 中国船舶重工集团公司第七0七研究所 | A kind of plantar pressure measuring device for wearable ectoskeleton power-assisting robot |
| CN213714591U (en) * | 2020-11-19 | 2021-07-16 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Gait detection device based on plantar pressure |
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| AU2016269841B2 (en) * | 2015-06-01 | 2020-11-26 | Penelope Jane LATEY | Foot muscle biofeedback unit |
| CN105852320B (en) * | 2016-05-06 | 2018-08-03 | 深圳市元征科技股份有限公司 | The inflation method and Intelligent insole of Intelligent insole air bag |
| CN109907427B (en) * | 2018-09-25 | 2021-06-25 | 吉林大学 | A detection method for insole detection based on big data rehabilitation process |
| CN111067539A (en) * | 2019-12-12 | 2020-04-28 | 上海航天控制技术研究所 | Gas sensitive sensing shoes for loading exoskeleton |
| CN111891254B (en) * | 2020-09-02 | 2023-12-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Four-legged robot and foot structure of foot robot |
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| US6836744B1 (en) * | 2000-08-18 | 2004-12-28 | Fareid A. Asphahani | Portable system for analyzing human gait |
| CN109115386A (en) * | 2018-09-30 | 2019-01-01 | 中国船舶重工集团公司第七0七研究所 | A kind of plantar pressure measuring device for wearable ectoskeleton power-assisting robot |
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