KR102755255B1 - Apparatus and method for making user customized insole - Google Patents

Abstract

The present invention relates to a device and method for manufacturing a customized insole, and more particularly, to a device and method for manufacturing a customized insole, which scans a user's foot using a three-dimensional scanner, extracts feature points from a scanned foot model, and then manufactures an insole optimized for the user based on the feature points. The present invention extracts feature points from a foot model obtained using a three-dimensional scanner for the user's foot, and then aligns the feature points of an insole model adaptively deformed according to the size of the foot with the feature points of the foot model according to an automatic alignment algorithm, and provides an insole model optimized for the user's foot by adjusting the height so as to maximize the rigidity of the insole model so as to maintain the shape of the insole model while dispersing and minimizing energy according to a load applied by the user, and supports the manufacturing of the insole using a three-dimensional printer based on the insole model, thereby increasing the accuracy of insole manufacturing and providing an optimal insole that takes into account even the deformation of the insole shape due to the user's load, thereby improving the comfort, balance, and stability of the user when walking.

Description

{Apparatus and method for making user customized insole}

The present invention relates to a device and method for manufacturing a customized insole, and more particularly, to a device and method for manufacturing a customized insole that scans a user's foot using a three-dimensional scanner, extracts feature points through a scanned foot model, and then manufactures an insole optimized for the user based on the feature points.

The feet, which are closest to the ground among the lower body that supports the ground and the human body, enable us to maintain an upright posture and walk, which are the most important in our lives. The feet play a role in maintaining the balance of the body by distributing the weight most stably biomechanically, maintaining an upright posture and walking, and distributing the weight to maintain the stability of the body. Therefore, it is the part that directly receives fatigue when walking or standing for a long time.

To cushion this impact, the foot is made up of three arches: the medial longitudinal arch, the lateral longitudinal arch, and the lateral longitudinal arch.

The arch is made up of two parts, the medial and lateral arches. The part on the inside of the foot is the medial arch, and the part on the outside is the lateral arch. The arch is located between the heel and the metatarsal bone, and the middle is made up of bones and ligaments. The transverse arch is formed horizontally between the forefoot, known as the ball, and the toes, and the metatarsal arch is located under the ball of the foot. There are the medial arch, lateral arch, and transverse arch, and when the weight of the body is supported by the arch, the arch is lowered, distributing the weight and reducing the shock from walking. However, it has been revealed that the cause of physical fatigue, injuries, and chronic diseases caused by excessive force on the arch is due to the functional characteristics of the foot. Therefore, shoes were made to complement the characteristics of the foot and protect the foot.

Shoes are designed to solve problems such as mud, sand, contaminants, foot protection during work, and slipping. The composition of shoes can be broadly divided into nine parts: upper, outsole, midsole, heel wedge, insole, back counter or heel counter, tongue, ankle collar, toe cap, etc.

In the composition of these shoes, the insole is a component closely related to the user's body that absorbs shock and reduces fatigue and pain in the feet by distributing the body's weight to the left and right feet.

The insole is a part that is directly worn on the sole of the foot, usually located on the inside of the shoe, and provides cushioning and improves the fit. Recently, it has also been used as a medical assistive device that can help with walking. The insole has the function of efficiently distributing the body's pressure load transmitted to the sole of the foot. In general, pressure appears in the stance phase during walking, and people with poor posture or diseases show very distinct characteristics of the pressure distribution of the foot. This is calculated numerically using a measuring tool (plantar pressure measuring device). Furthermore, research on the height of the insole has shown that the balance of the cervical, thoracic, and lumbar vertebrae in the sagittal plane is important for the energy absorption of the vertebral column and the efficiency of the surrounding muscles, and the lumbar sacral angle is important for maintaining the spinal curve and posture.

The important point here is that a high curvature changes the center of gravity of the body, increasing the range of motion and hindering walking, and changes the angle of motion of the spine and lower extremity joints, increasing the pelvic tilt angle, causing muscle fatigue, reducing balance ability, and increasing the risk of falling.

As mentioned above, in the production of insoles, which are closely related to the user's body, active research is being conducted to scientifically and systematically identify the causes and phenomena of diseases and illnesses and to develop insoles optimized for the user's body.

However, the current technology for making insoles optimized for each user involves taking a cast using plaster to create a model that fits the foot, and having experts manually adjust the size and height of the insole based on this. This requires not only specialized manpower and a considerable amount of time for production, but also makes it difficult to specify the patient's foot, which reduces the precision and accuracy of the insole.

Recently, with the advancement of 3D modeling technology, a technology has emerged to create a 3D model of an insole customized to the user's foot and manufacture the insole based on this. However, this existing manufacturing process also has the disadvantage of taking a long time to produce a customized 3D model and the lack of a standardized method, so the final insole varies depending on the skill level of the expert, resulting in significant differences from the 3D model, and thus the problem of not being able to guarantee accuracy.

Moreover, since the existing insole manufacturing technology using 3D modeling simply adjusts the surface of the insole facing the user's sole to the shape of the sole, an improved insole manufacturing technology is required that allows the user to maintain correct posture and ensures comfort and stability when walking even when the insole is deformed due to changes in the user's posture or the load applied to the insole while walking.

Korean Patent Registration No. 10-0969038

In order to improve the above-described problems, the present invention provides an insole model optimized for the user's foot by generating a foot model through three-dimensional modeling of the user's foot, extracting feature points from the foot model, and then aligning the feature points of an insole model adaptively deformed according to the size of the foot with the feature points of the foot model according to an automatic alignment algorithm to deform the insole model to be optimized for the foot model, and based on this, supporting the production of an insole optimized for the user's foot through a three-dimensional printer, thereby increasing the accuracy of insole production.

In addition, the present invention aims to provide an insole model that can improve the comfort, balance, and stability of a user when walking by optimizing the height of the insole model so that it has durability capable of supporting the weight of a user's body while maintaining the shape of the insole model optimized for a foot model.

A device for manufacturing a customized insole according to an embodiment of the present invention may include a feature point generation unit which obtains a three-dimensional foot model by scanning a user's foot from a three-dimensional scanner, and generates selected feature point information for a plurality of selected feature points selected by the user from the foot model, a matching unit which matches the foot model and the insole model according to a preset matching algorithm based on the selected feature point information provided from the feature point generation unit and reference feature point information for reference feature points of a preset three-dimensional insole model corresponding to the insole, and a deformation unit which moves points constituting a mesh in an insole model matched to the foot model through the matching unit according to a preset deformation algorithm to calculate a target point of each point constituting the insole model, and adjusts the height of the insole model corresponding to the target point to provide an optimal insole model optimized for the user.

As an example related to the present invention, the insole model may be characterized by being composed of a three-dimensional template.

As an example related to the present invention, the feature point generation unit may be characterized by providing guide information for different guide areas displayed on the foot model for selecting feature points according to preset anatomical information, and generating feature points selected in each guide area as the selected feature point information.

As an example related to the present invention, the above matching algorithm

이며,

And,

It may be characterized in that P and P´ are the reference feature points corresponding to the selected feature points of P according to the selected feature points and the guide area, respectively, s is a scaling value (constant), R is a rotation matrix, and T is a movement vector for moving to P´.

A method for manufacturing a customized insole of a customized insole manufacturing device linked with a three-dimensional scanner and a three-dimensional printer according to an embodiment of the present invention may include the steps of: obtaining a three-dimensional foot model by scanning a user's foot from the three-dimensional scanner, and generating selected feature point information for a plurality of selected feature points selected by the user from the foot model; matching the foot model and the insole model according to a preset matching algorithm based on the selected feature point information and reference feature point information for reference feature points of a preset three-dimensional insole model corresponding to the insole; moving points constituting a mesh in the insole model matched to the foot model according to a preset deformation algorithm to calculate target points of each point constituting the insole model, and adjusting the height of the insole model corresponding to the target points to provide an optimal insole model optimized for the user; and providing information related to the optimal insole model to the three-dimensional printer to manufacture a customized insole.

The present invention extracts feature points from a foot model obtained by a three-dimensional scanner for a user's foot, and then aligns the feature points of an insole model that is adaptively deformed according to the size of the foot with the feature points of the foot model according to an automatic alignment algorithm, and based on this, adjusts the height of the insole model obtained by maximizing the rigidity to maintain the shape of the insole model while dispersing and minimizing energy according to a load applied by the user, thereby providing an insole model optimized for the user's foot, and by supporting the production of the insole using a three-dimensional printer based on the insole model, the accuracy of the insole production is increased, and at the same time, an optimal insole that takes into account the deformation of the insole shape due to the user's load is provided, thereby improving the comfort, balance, and stability of the user when walking.

In addition, the present invention can automatically generate an insole optimized for a user by considering the deformation of the insole according to the user's physical characteristics and the load applied by the user based on a foot model scanned by a 3D scanner, thereby ensuring more accurate and faster insole production than before.

Figure 1 is a configuration diagram of a device for manufacturing a customized insole according to an embodiment of the present invention.
FIG. 2 is an exemplary operation diagram of a feature point generation and alignment process of a user-customized insole manufacturing device according to an embodiment of the present invention.
FIG. 3 is an example diagram of an optimal insole model generated by a user-customized insole manufacturing device according to an embodiment of the present invention.
Figure 4 is a flow chart of a method for manufacturing a customized insole according to an embodiment of the present invention.

Hereinafter, detailed embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram of a device for manufacturing a customized insole according to an embodiment of the present invention. As illustrated, the device for manufacturing a customized insole (insole, inner sole) (100) is connected to and linked with a three-dimensional scanner (3D scanner) (10) and a three-dimensional printer (3D printer) (20), and may include a feature point generation unit (110), an alignment unit (120), and a deformation unit (130).

At this time, the user-customized insole manufacturing device (100) may be configured as an individual device composed of hardware, or may be configured as software installed and operated on a user terminal or server, or as a module configured in a user terminal. In addition, the user terminal may be configured as various terminals such as a PC.

Based on the above-described configuration, the detailed operation of each component constituting the customized insole manufacturing device (100) is described.

First, as illustrated in FIG. 2, the feature point generation unit (110) can receive information related to a three-dimensional foot model generated by scanning the user's foot from a three-dimensional scanner.

In addition, the feature point generation unit (110) can extract a plurality of selected feature points selected according to user selection from the foot model and generate selected feature point information for the plurality of selected feature points.

At this time, the user-customized insole manufacturing device (100) may include an input unit for receiving user input and a display unit for displaying information related to the foot model, and the input unit and the display unit may be configured as separate devices and may be interconnected with the user-customized insole manufacturing device (100).

Accordingly, the feature point generation unit (110) can display a foot model based on the foot model related information through the display unit, and can generate feature points selected by the user from the foot model as selected feature point information according to user input through the input unit.

At this time, the feature point generation unit (110) can provide guide information by displaying a plurality of different guide areas on the sole of the foot model, where a load exceeding a preset reference value is applied during walking according to preset anatomical information on the sole of the foot model, and can generate feature points selected from each guide area as selected feature point information according to user input through the input unit.

As illustrated, the feature point generation unit (110) can select four feature points according to user input and generate selected feature point information. At this time, the four points are the part that receives the strongest load from the ground from the upper left of the sole starting from point 1, the part that receives the strongest load from the upper right of the sole from point 2, the part that receives the strongest load from the upper right of the sole from point 2, the part that receives the strongest load from the upper right of the sole from point 3, and the part that receives the strongest load from the lower center of the foot from point 4. Finally, the part that receives the strongest load from point 3 is located in the center of points 2 and 4. Therefore, when the user walks, the load is received in the order of points 4, 3, 2, and 1.

Thereafter, the feature point generation unit (110) can generate foot model related information including the selected feature point information and provide it to the matching unit (120).

Meanwhile, the alignment unit (120) can set information on a three-dimensional insole model for a preset insole shape, and the three-dimensional insole model can have reference feature points set.

At this time, the 3D insole model may be configured as a 3D template, and a plurality of reference feature points each corresponding to the plurality of selected feature points may be set in the insole model.

Here, multiple guide areas corresponding to different guide areas of the foot model are set in the 3D insole model, so that selected feature points and reference feature points belonging to the mutually corresponding guide areas can correspond to each other.

For example, a selected feature point belonging to a first guide area of a foot model and a reference feature point belonging to a second guide area corresponding to the first guide area of the insole model may correspond to each other.

In addition, the feature point generation unit (110) may vary each of the reference feature points according to the user input.

At this time, the above-mentioned selected feature points and reference feature points may mean landmark points.

According to the above-described configuration, the matching unit (120) receives foot model related information including selected feature point information from the feature point generation unit (110), and can match the insole model to the foot model according to a preset matching algorithm based on the selected feature point information and reference feature point information corresponding to the insole model and the foot model, respectively.

At this time, the alignment unit (120) applies the selected feature point information and the reference feature point information to the alignment algorithm according to the following mathematical expression 1, and calculates alignment information including a translation vector, a rotation matrix, and a scaling factor for aligning the insole model to correspond to the foot model, and aligns the insole model to correspond to the foot model in an optimal manner according to the alignment information, thereby aligning the foot model and the insole model.

At this time, the above matching algorithm may be a Procrustes algorithm (or Procrustes analysis method), P and P´ may be previous data and newly updated data, respectively, s may be a scaling value (constant), R may be a rotation matrix, and T may be a movement vector to go to the new data P´.

Additionally, the P may be a selection feature point of the foot model, and the P´ may be a reference feature point of the insole model corresponding to the selection feature point of the P according to the guide area.

Accordingly, the matching unit (120) can substitute a reference feature point corresponding to the selected feature point according to P into P´ when substituting any one of the plurality of selected feature points into P.

By calculating R and T through the above mathematical expression 1 so that the newly obtained P´ becomes the target data Q, two different data can be aligned. Accordingly, the alignment unit (120) can align the insole model and the user's foot model through the above-described configuration. At this time, the Q may mean a reference feature point of the insole model, and the Q may be the same as the P´.

Meanwhile, the deformation unit (130) can receive information related to the insole model matched to the foot model from the alignment unit (120), and can generate an insole model optimized for the user by differently adjusting the heights of points constituting the insole model so as to maximize rigidity and minimize energy dispersion when the insole model is deformed according to the user's load. The configuration thereof will be described in detail.

The above insole model is composed of multiple points, and each point is connected to each other to form a mesh structure. At this time, the mesh structure is configured in a direction that minimizes the energy of the edge connecting two points.

Accordingly, the deformation part (130) can adjust the height of the insole model by changing the positions of vertices that maximize rigidity and minimize energy dispersion when the insole model is deformed by the user's load in a direction in which the shape of the insole model aligned with the foot model does not change significantly, that is, in a direction in which local rigidity is preserved as much as possible, and an optimal insole model can be created by adjusting the height of the insole model.

At this time, the deformation unit (130) can calculate the optimal positions of the points through a preset deformation algorithm and adjust the height of the insole model based on this.

In addition, the above transformation algorithm can be composed of the following mathematical expressions 2 and 3.

First, the deformation part (130) can apply mathematical expression 2 according to the deformation algorithm to different points connected to each other in the mesh structure according to the insole model.

와

는 상기 인솔 모델을 구성하는 서로 다른 점들(또는 서로 다른 각 점의 위치)이며,

과

은 목표지점에서의 점(또는 이동위치에서의 점)이고, R은 회전행렬이며,

는 가중치를 의미할 수 있다. 이때, 가중치는 미리 설정되거나 가변될 수 있다.In the above mathematical expression 2,

and

are the different points (or the positions of each different point) that constitute the above insole model,

class

is a point at the target point (or a point at the moving location), and R is a rotation matrix.

may mean a weight. In this case, the weight may be preset or variable.

Accordingly, the above-described deformation part (130) can obtain a rotation matrix R that maximizes stiffness while minimizing energy through the above-described mathematical expression 2.

Meanwhile, the deformation part (130) can calculate the optimal target point for each point constituting each insole model through the following mathematical expression 3 for applying the mathematical expression 2 to all points constituting the insole model according to the deformation algorithm.

는

와 마찬가지로 가중치이다.In the above mathematical expression 3, n is the total number of points forming the insole model,

Is

Likewise, it is a weight.

를 산출하고, 상기 회전행렬을 기초로 원래의 인솔 모델의 모습을 최대한 유지하면서 회전시켰을 때의 목표 지점의 위치를 산출할 수 있다.Through this, the above deformation part (130) is a rotation matrix for each different point through the above mathematical expressions 2 and 3.

and, based on the rotation matrix, the position of the target point can be calculated when the original insole model is rotated while maintaining its shape as much as possible.

Accordingly, the deformation unit (130) determines the optimal position for each point constituting the insole model based on the position of the target point, and can adjust the height of the insole model by changing the position of each point constituting the insole model according to the optimal position, and can generate an optimal insole model according to such height adjustment.

Meanwhile, the above-described deformation part (130) can transmit information related to the optimal insole model as shown in FIG. 3 to the 3D printer, and cause the 3D printer to produce an insole according to the optimal insole model.

Through this, the user-customized insole manufacturing device (100) according to the present invention can provide an insole optimized for the user's foot, thereby helping the user maintain a correct and balanced posture, while ensuring comfort, balance, and stability when walking.

In addition, the present invention can provide an optimal insole that can maintain the basic functions of an insole, such as making the insole as thin as possible, approximately 2 cm, considering the heel of a shoe when manufacturing the insole using a 3D printer, while at the same time having durability that can support the weight of the human body.

Meanwhile, the size, width, and height of the sole of a person's foot are different for each person, and the left and right sides have slightly different sizes and shapes. Accordingly, the left and right sides must be manufactured with different insole manufacturing settings, and thus the user-customized insole manufacturing device (100) in the above-described configuration can provide an optimal insole model corresponding to each of the user's left and right feet.

As described above, the customized insole manufacturing device (100) can optimize the size and shape of the insole model to fit the foot model based on four characteristic points assigned to each of the foot model and the insole model.

At this time, the insole model and the foot model aligned to the foot model can be compared using the Euclidian similarity according to the alignment of the foot model and the insole model, and the Euclidean difference according to this can be defined as in the following mathematical expression 4, and the distance between the two models in three dimensions can be compared by dividing the sum of the points from the four points by 4.

In the comparison of the similarity of the insoles, the difference ranged from as large as 2.7 cm to as small as close to 0. The average error rate was about 0.8 cm. This can be said to be a very small error rate as it is the sum of the errors of the four feature points.

As described above, the present invention can automatically generate an insole optimized for a user by considering the deformation of the insole according to the user's physical characteristics and the load applied by the user based on a foot model scanned by a 3D scanner, thereby ensuring more accurate and faster insole production than before.

FIG. 4 is a flowchart of a method for manufacturing a custom insole of a custom insole manufacturing device (100) according to an embodiment of the present invention.

As described above, the user-customized insole manufacturing device (100) can obtain a three-dimensional foot model by scanning the user's foot from a three-dimensional scanner (S1) and generate selection feature point information for a plurality of selection feature points selected by the user from the foot model (S2).

In addition, the user-customized insole manufacturing device (100) can align the foot model and the insole model according to a preset matching algorithm based on the selected feature point information and the reference feature point information for the reference feature points of a preset 3D insole model corresponding to the insole (S3).

Next, the user-customized insole manufacturing device (100) moves points forming a mesh in an insole model aligned with the foot model according to a preset deformation algorithm to calculate a target point of each point forming the insole model (S4), and adjusts the height of the insole model corresponding to the target point to generate and provide an optimal insole model optimized for the user (S5).

Thereafter, the user-customized insole manufacturing device (100) can provide the optimal insole model-related information to the 3D printer to manufacture a user-customized insole (S6).

As described above, the present invention extracts feature points from a foot model obtained by a three-dimensional scanner for a user's foot, and then aligns the feature points of an insole model adaptively deformed according to the size of the foot with the feature points of the foot model according to an automatic alignment algorithm, and based on this, adjusts the height of the insole model obtained by maximizing the rigidity to maintain the shape of the insole model while dispersing and minimizing energy according to the load applied by the user, thereby providing an insole model optimized for the user's foot, and supports the production of the insole using a three-dimensional printer based on the insole model, thereby increasing the accuracy of the insole production and providing an optimal insole that takes into account the deformation of the insole shape due to the user's load, thereby improving the comfort, balance, and stability of the user when walking.

The various devices and components described herein may be implemented by hardware circuits (e.g., CMOS-based logic circuits), firmware, software, or a combination thereof. For example, they may be implemented by utilizing transistors, logic gates, and electronic circuits in the form of various electrical structures.

The above-described contents can be modified and changed by those skilled in the art to which the present invention pertains, without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain it, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the rights of the present invention.

10: 3D scanner 20: 3D printer
100: Customized insole manufacturing device
110: Feature point generation section 120: Alignment section
130: Transformation section

Claims (5)

A feature point generation unit that obtains a 3D foot model by scanning a user's foot from a 3D scanner and generates selected feature point information for a plurality of selected feature points selected by the user from the foot model;
A matching unit that matches the foot model and the insole model according to a preset matching algorithm based on the selected feature point information provided from the feature point generation unit and the reference feature point information for the reference feature point of the preset 3D insole model corresponding to the insole; and
A deformation unit that moves the points forming the mesh in the insole model aligned to the foot model through the above-described alignment unit according to a preset deformation algorithm to calculate the target point of each of the points forming the insole model aligned to the foot model, and adjusts the height of the insole model aligned to the foot model in response to the target point to provide an optimal insole model optimized for the user.
Including,
The above deformation unit calculates a rotation matrix that maximizes the stiffness of the insole model while minimizing energy based on the deformation algorithm among the points forming the insole model aligned with the foot model, and then determines a target point for each of the connected points based on the rotation matrix, and adjusts the height of the insole model aligned with the foot model by changing the location of the point to the location of the target point. A customized insole manufacturing device.
In claim 1,
A device for manufacturing a customized insole, characterized in that the above insole model is composed of a three-dimensional template.
In claim 1,
A device for manufacturing a customized insole, characterized in that the above-mentioned feature point generation unit provides guide information for different guide areas displayed on the foot model for selecting feature points according to preset anatomical information, and generates the feature points selected in each of the above-mentioned guide areas as the selected feature point information.
delete A method for manufacturing a custom insole using a custom insole manufacturing device that is linked to a 3D scanner and a 3D printer,
A step of obtaining a three-dimensional foot model by scanning the user's foot from the three-dimensional scanner, and generating selected feature point information for a plurality of selected feature points selected by the user from the foot model;
A step of aligning the foot model and the insole model according to a preset matching algorithm based on the reference feature point information of the reference feature point of the preset 3D insole model corresponding to the above-mentioned selected feature point information and the reference feature point information of the preset 3D insole model;
A step of calculating a target point of each of the points constituting the insole model constituting the insole model constituting the foot model by moving the points constituting the mesh in the insole model constituting the foot model according to a preset deformation algorithm, and adjusting the height of the insole model constituting the foot model corresponding to the target point to provide an optimal insole model optimized for the user; and
A step for producing a customized insole by providing the above optimal insole model related information to the above 3D printer.
Including,
The step of providing the above optimal insole model is:
A method for manufacturing a customized insole, characterized in that it further includes a step of calculating a rotation matrix that maximizes the stiffness of the insole model while minimizing energy according to the deformation algorithm among the connected points based on the mesh among the points forming the insole model aligned with the foot model, and then determining a target point for each of the connected points based on the rotation matrix and changing the position of the point to the position of the target point to adjust the height of the insole model aligned with the foot model.

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