CN104102236B - A kind of rehabilitative shoe and its control system - Google Patents
A kind of rehabilitative shoe and its control system Download PDFInfo
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- CN104102236B CN104102236B CN201410348692.9A CN201410348692A CN104102236B CN 104102236 B CN104102236 B CN 104102236B CN 201410348692 A CN201410348692 A CN 201410348692A CN 104102236 B CN104102236 B CN 104102236B
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Abstract
The present invention relates to a kind of rehabilitative shoe, including vamp, sole, adjustment mechanism and controller, adjustment mechanism includes fixed plate, fixing shell and drive mechanism, drive mechanism includes leading screw, worm gear, worm screw, motor and mobile support, leading screw one end is connected the affixed worm gear of the plate other end, worm gear is connected shell, worm and wheel is engaged, leading screw is engaged with mobile support, motor is connected with worm screw one end, mobile support has a chassis, one end that the chassis is contacted with ground is equipped with pressure sensor, pressure sensor is used to obtain pressure signal, controller is used for processing pressure signal controlled motor motion；The invention further relates to a kind of control system, including signal transducer, position sensor, signal acquisition module, computer module and drive module, by gathering pressure, acceleration and electromyographic signal, and monitor the motion state of rehabilitative shoe user using position sensor on-line, to control the adjustment mechanism of rehabilitative shoe, prevent human body from falling.
Description
Technical field
The present invention relates to medical instruments field, and in particular to the rehabilitative shoe of a kind of fall prevention and for controlling the rehabilitative shoe
System.
Background technology
The unstability of plantar pressure, usually causes the damage of human synovial, even results in human body tumble.For the elderly
Or for some handicapped patients, tumble may cause serious consequence, it is likely to result in fracture and even goes into a coma.Therefore, develop
New technology, predicts the possibility that human body is fallen, and adjustment people's posture, very necessary in time.
Gu Lian universities of Israel develop a kind of Re-Step rehabilitation exercises footwear, and the Main Function of the rehabilitative shoe is to be directed to
The patients such as headstroke, brain damage walk, and gait balance etc. carries out rehabilitation training.Its sole is provided with bulge pressure sensing dress
Put, the height of pressure sensor device is adjusted according to the pressure value for measuring, and then the pose of adjustment sole will not to guarantee patient
Disequilibrium.
In May, 2011, the Haifa, Israel Institute of Technology develop a kind of rehabilitative shoe for gonitis treatment, its feature
It is the centre of pressure for changing sole, improves kneed athletic posture.
In July, 2011, Japan develop a kind of shoes of tumble, and its bottom is mounted with the gas by made by rubber and sponge
Pressure transmission device, when perceiving user and losing the risk of center of gravity, sole can adjust rapidly to guarantee user not
Can disequilibrium.
CN103110239A discloses a kind of rehabilitative shoe, and rubber plastic capsule and its control cabinet are provided with sole, by control
The charge and discharge of raw material in rubber plastic capsule processed, changes capsule volume, and then adjusts sole pose, prevent user from falling.
CN102866640A discloses a kind of tumble control system and the rehabilitative shoe using the system, adjusts in the center of gravity of sole
Adjust pad is provided with whole mechanism, by adjust pad position, is changed the pose of sole, and then is prevented human body from falling.
Although existing prior art has done certain research to preventing human body from falling, some problems are still suffered from：
1st, adjustment mode delay of response, it is impossible to effectively prevent human body from falling.In prior art, by charge and discharge sole rubber glue
The mode such as intracapsular portion's raw material or adjustment sole pad adjusts sole pose, the delay of response of these modes, it is impossible to quickly make phase
Should adjust, therefore human body tumble can not be effectively prevented.
2nd, control system pattern is single, it is impossible to accurate response human motion situation.It is main by monitoring people in prior art
The possibility changed to judge human body tumble of body pressure or center of gravity, but actually the squatting up of human normal or action of bending over all can
Cause the change of pressure or center of gravity, therefore single control model can cause erroneous judgement to the tumble possibility of human body, and user is made
Into inconvenience.
The content of the invention
In order to solve above-mentioned technical problem, the present inventor completes the present invention after substantial amounts of creative work is carried out.
The present invention provides a kind of rehabilitative shoe, including vamp, sole, the adjustment mechanism being arranged in sole and control
Device, the adjustment mechanism and the controller are arranged in the sole, and the adjustment mechanism includes fixed plate, fixing shell
And drive mechanism；
The fixed plate is installed on the sole, and the fixing shell is connected in the fixed plate, and described solid
Fixed board surrounds to form an accommodation space with the fixing shell, and the drive mechanism is arranged in the accommodation space；
The drive mechanism includes leading screw, worm gear, worm screw, motor and mobile support, and the leading screw lower end connection is described solid
Fixed board, the affixed worm gear in the leading screw upper end, the worm gear correspondence connection fixing shell, the worm screw and the worm gear
Engagement, the motor connection is in described worm screw one end；
The mobile support includes platform, pole and chassis, and the platform is engaged with the leading screw, and the pole upper end connects
The platform is connect, lower end connects the chassis, and the pole runs through the fixed plate and the sole, the chassis and ground
Contact；
One end that the chassis is contacted with ground is equipped with pressure sensor, and the pressure sensor is used to obtain pressure letter
Number, the controller is used for processing pressure signal, and controls the motor movement.
Further, through hole is offered in the middle of the fixed plate, the pole for making the mobile support passes through, described solid
It is further opened with the first concave station in fixed board, the lower end of the leading screw is connected to the of the fixed plate by bearing connected mode correspondence
At one concave station, two side of the fixed plate is provided with the first screwed hole, is installed in for being threaded connection the fixed plate
On the sole.
Further, the fixing shell is inverted U-shaped structure, including roof and two side, the roof of the fixing shell
On offer the second concave station, the worm gear is connected at the second concave station of the fixing shell by bearing connected mode correspondence,
Offer boss on the side wall of the fixing shell, the motor is arranged at the boss, the fixing shell it is another
Through hole is offered on the wall of side, the through hole is run through in described worm screw one end.
Further, the drive mechanism also includes shaft coupling, and the motor is connected with the worm screw by the shaft coupling
Connect, the platform of the mobile support is provided with the second screwed hole that size is matched with the leading screw, for engaging with the leading screw.
Alternatively, the rehabilitative shoe at least includes two adjustment mechanisms, and each described adjustment mechanism at least includes two
The individual leading screw and the worm gear with the leading screw equal number, have some thread segments and the screw thread on the worm screw
The quantity of section is identical with the worm gear quantity.
Preferably, the rehabilitative shoe includes three adjustment mechanisms, and each described adjustment mechanism includes two silks
Thick stick and the worm gear with the leading screw equal number, the quantity on the worm screw with some thread segments and the thread segment
It is identical with the worm gear quantity.
Alternatively, the shape on the chassis of the fixed plate, the platform of the mobile support and the mobile support is each only
It can be on the spot the one kind in circle, ellipse, rectangle, round rectangle or pentagon.
The present invention also provides a kind of control system for controlling rehabilitative shoe, and the control system is used to control above-mentioned health
Multiple footwear, the control system include：
Signal transducer, for obtaining plantar pressure signal, acceleration signal and electromyographic signal, the signal transducer bag
Include pressure sensor, acceleration transducer and surface myoelectric sensor；
Position sensor, is arranged in the motor, for rehabilitative shoe described in online record in the position at each motion moment
Confidence ceases；
Signal acquisition module, for gathering the plantar pressure signal, acceleration signal and electromyographic signal, and by the foot
Base pressure force signal, acceleration signal and electromyographic signal are transmitted to computer module, and the signal acquisition module includes pressure signal
Acquisition module, acceleration signal acquisition module and surface electromyogram signal acquisition module；
Computer module, for receiving and processing the plantar pressure signal, acceleration signal and electromyographic signal, sends control
System instruction；
Drive module, the control instruction for being sent according to the computer module make respective drive action, the drive
Dynamic model block includes multi-axis motion control card, driver and motor, control of the driver according to the multi-axis motion control card
Motor movement described in order-driven.
Further, the pressure sensor is arranged on the chassis of the mobile support, and the acceleration transducer sets
It is placed in the waist of human body, the acceleration transducer is six shaft angle acceleration transducers, the surface myoelectric sensor is arranged at
Human body lower limbs, the surface myoelectric sensor are surface myoelectric electrode.
Further, the computer module includes data processing unit, and the data processing unit includes：
Signal processing unit, for being amplified to the plantar pressure signal, acceleration signal and electromyographic signal, shaping
And filtering；
Characteristics extraction unit, for the plantar pressure signal after the signal processing unit processes, plus
Rate signal and electromyographic signal carry out characteristics extraction；
Pattern recognition unit, is described, recognizes, classifies and explains for the characteristic value to being extracted；
Control unit, for sending corresponding control instruction according to the result of the pattern recognition unit.
Beneficial effects of the present invention are as follows：
1st, adjustment mode is rapid, can prevent human body from falling in time.
In the present invention, motor is connected with worm screw, and worm and wheel is that engagement coordinates, and worm gear is to be fixedly connected with leading screw, because
This motor can drive leading screw along its axially-movable by engaged transmission mode；
Meanwhile, the position sensor real-time monitoring human body in control system respectively moves the positional information at moment, once human body
The control system for having the possibility of tumble, rehabilitative shoe can quickly send control command, and then quickly adjust footwear by adjustment mechanism
Base plate pose.
2nd, control system is intelligent, and effectively preventing from falling occurs.In the present invention, collection Human Sole pressure signal, acceleration
Degree signal, the surface electromyogram signal of human muscle are processed to the signal for gathering by computer module as monitoring signals,
The tumble state of human body is judged.
Compared with the monitoring of single pressure signal or center of gravity signal, the signal message gathered in the present invention more comprehensively, has
Correct judgement is made to the motion state of human body beneficial to computer module, the generation of tumble event is effectively prevented.
3rd, install simple, it is applied widely.In the present invention, the adjustment mechanism on rehabilitation sole is detachable mechanism, should
Regulating member can easily be dismantled and is installed on any walking shoes, therefore applied widely.
Description of the drawings
Fig. 1 is the overall schematic of one rehabilitative shoe of the embodiment of the present invention.
Fig. 2 is one rehabilitative shoe internal structure schematic diagram of the embodiment of the present invention.
Fig. 3 is the stereogram of the adjustment mechanism of one rehabilitative shoe of the embodiment of the present invention.
Fig. 4 is the three-dimensional exploded view of the adjustment mechanism of one rehabilitative shoe of the embodiment of the present invention.
Fig. 5 is the front view of the adjustment mechanism of one rehabilitative shoe of the embodiment of the present invention.
Fig. 6 is the structural representation of the fixed plate of one rehabilitative shoe of the embodiment of the present invention.
Fig. 7 is the structural representation of the fixing shell of one rehabilitative shoe of the embodiment of the present invention.
Fig. 8 is the structural representation of the mobile support of one rehabilitative shoe of the embodiment of the present invention.
Fig. 9 is the workflow schematic diagram of two control system of the embodiment of the present invention.
Specific embodiment
Below by specific embodiment, the present invention is described in detail, it should be appreciated that these specific embodiment parties
Formula is only used for enumerating the present invention, not constitutes any type of any restriction to the real protection scope of the present invention.
In the present invention, term " interior ", " outward ", " on ", D score, "front", "rear", "left", "right", " top ", " bottom ", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level " is based on orientation shown in the drawings or position relationship, only for the purposes of description
The present invention and embodiment, are not intended to limit indicated device, element or part and must have a particular orientation, or with
Particular orientation is constructed and is operated.
Additionally, term " installation ", " setting ", " being provided with ", should be interpreted broadly " connection ", " being connected ".For example, it may be solid
It is fixed to connect, it is detachably connected, or monolithic construction；Can be mechanically connected, or electrical connection；Can be joined directly together, or
It is indirectly connected to by intermediary, or is two connections internal between device, element or part.For this area
For those of ordinary skill, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
Embodiment 1
Refering to Fig. 1 to Fig. 8, the first embodiment of the present invention is a kind of rehabilitative shoe of fall prevention, and the rehabilitative shoe includes footwear
Face 1, sole 2, three adjustment mechanisms 3 being arranged in sole 2 and controller 4.As shown in Fig. 2 adjustment mechanism 3 and should
Controller 4 is arranged in the sole 2, and three first through hole 21 for coordinating the adjustment mechanism 3 are provided with the sole 2,.
It is understood that the annexation to clearly show that each part, the knot of two adjustment mechanisms 3 of sole front edge of board in Fig. 2
Composition is not shown.
Refering to Fig. 3 to Fig. 5, each adjustment mechanism 3 includes fixed plate 31, fixing shell 32 and drive mechanism 33.
Refering to Fig. 6, the fixed plate 31 is a rectangular retaining plate, and the centre of the fixed plate 31 opens up one second through hole 312,
312 both sides of through hole open up one first concave station 311 respectively, are provided with 4 the first screwed holes in the both sides of the edge of the fixed plate 31
313, the fixed plate 31 is threaded connection mode and is installed on the sole 2.
Refering to Fig. 7, the fixing shell 32 is inverted U-shaped structure, including roof and two side, in the roof of the fixing shell 32
On open up two second concave stations 321, a through hole type boss 322 is opened up on the side wall of the fixing shell 32, in the fixing shell
On 32 opposite side wall to should boss 322 open up a third through-hole (not shown).
The fixing shell 32 is fixed in the fixed plate 32, and the fixing shell 32 is surrounded with the fixed plate 31 and forms an appearance
Between being empty, the drive mechanism 33 is arranged in the accommodation space.Refering to Fig. 5, the drive mechanism 3 includes two leading screws 331, two
332, worm screw 333 with two sections of screw threads of worm gear, motor 334 and mobile support 335.
Each 331 lower end of leading screw is connected on the first concave station 311 of the fixed plate by bearing connected mode correspondence,
331 upper end of leading screw affixed one worm gear 332 of correspondence, the worm gear 332 are connected to the fixing shell 32 by bearing connected mode
The second concave station 321 on, the worm gear 332 is engaged two sections of screw threads of the worm screw 333 with two, and one end of the worm screw 333 passes through one
Shaft coupling (not shown) is connected with the motor 334, and the other end is through the third through-hole on the 32 side wall of fixing shell, the electricity
Machine 334 is fixedly arranged on the through hole type boss 322 on the 32 side wall of fixing shell.
Refering to Fig. 8, the movement support 335 includes platform, pole and chassis, the platform be round rectangle platform, the platform
On open up the second screwed hole that two sizes are coordinated with the leading screw 331, for 331 gear motion of leading screw, the pole upper end
Connect the platform, lower end connects the chassis, the pole passes through first through hole 21 and the second through hole 312 through the sole 2 and is somebody's turn to do
Fixed plate 31, the chassis are circular base plate, and the chassis is contacted with ground；
One end that the chassis is contacted with ground is equipped with pressure sensor 3351, and the pressure sensor 3351 is used to obtain pressure
Signal, the controller 4 are used for processing pressure signal, and control the motor 334 and move.
In the present embodiment, the adjustment mechanism of rehabilitative shoe mainly quickly adjusts the pose of sole by mechanical drive mode.
In the adjustment mechanism of rehabilitative shoe, leading screw is fixed connection structure with worm gear, and worm and wheel engagement, mobile support are nibbled with leading screw
Conjunction, worm screw and motor connection, therefore, when motor is driven, motor drives rapidly worm screw to rotate, and worm screw passes through engaged transmission band
Dynamic worm gear is rotated with screw mandrel, further, drives the mobile support engaged with screw mandrel to do along the vertical axial direction of screw mandrel
Lower reciprocating motion, so as to adjust the pose of sole.
After user puts on rehabilitative shoe, the controller of rehabilitative shoe can be monitored according to the pressure inductor for being arranged on sole and be used
The position and posture of person, controls the driving condition of the motor in adjustment mechanism, when situation that human body may be dropped to is monitored, quickly
Motor, so as to drive the motion of adjustment mechanism.
In addition, the adjustment mechanism on rehabilitation sole is detachable mechanism, it is possible to by easily dismantling and installing
Adjustment mechanism is used for into any walking shoes.
Embodiment 2
The second embodiment of the present invention is a kind of control system for controlling rehabilitative shoe, refering to Fig. 9, is the control system
Workflow schematic diagram.
The control system is used for the rehabilitative shoe for controlling embodiment one, and the control system includes：
Pressure sensor 101, is arranged on the chassis of mobile support of rehabilitative shoe, for obtaining plantar pressure signal；Six
Shaft angle acceleration transducer 102, is arranged at the waist of human body, for obtaining acceleration signal；Surface myoelectric sensor 103, if
Human body lower limbs are placed in, for obtaining electromyographic signal, the surface myoelectric sensor 103 is surface myoelectric electrode.
Position sensor 104, is arranged in the motor of rehabilitative shoe, for rehabilitative shoe described in online record when each moves
The positional information at quarter.
Pressure signal acquisition module 201, for gathering plantar pressure signal and by the signal transmission to computer module；Plus
Rate signal acquisition module 202, for gathering acceleration signal and by the signal transmission to computer module；Surface electromyogram signal
Acquisition module 203, for gathering electromyographic signal and by the signal transmission to computer module.
Computer module, for receiving and processing plantar pressure signal, acceleration signal and electromyographic signal, and sends control
Instruction.The computer module includes data processing unit, and the data processing unit includes：Signal processing unit 301, characteristic value is carried
Take unit 302, pattern recognition unit 303 and control unit 304.
The signal processing unit 301, for being amplified to plantar pressure signal, acceleration signal and electromyographic signal, whole
Shape and filtering；This feature value extraction unit 302, for the plantar pressure signal after the signal processing unit 301 is processed,
Acceleration signal and electromyographic signal carry out characteristics extraction；The pattern recognition unit 303, is carried out for the characteristic value to being extracted
Description, identification, classification and explanation；The control unit 304, for sending phase according to the result of the pattern recognition unit 303
The control instruction answered.
Drive module, the control instruction for being sent according to the computer module make respective drive action, the driving mould
Block includes multi-axis motion control card 401, driver 402 and motor 403, and the driver 402 is according to the multi-axis motion control card 401
Control instruction drive the motor 403 to move.
It is understood that the control system can be used for the rehabilitative shoe for controlling to include other types adjustment mechanism.
In the present embodiment, user puts on rehabilitative shoe, and the surface myoelectric electrode 103 of 4 pieces of wireless devices is pasted respectively
The rectus femoris and tibialis anterior of human body lower limbs are put in, the six shaft angles acceleration transducer 102 are placed with human body waist, the pressure
Sensor 101 is arranged on the chassis of rehabilitative shoe, using pressure signal, acceleration signal and electromyographic signal, monitors user's
Position and posture, while using the position sensor being arranged in rehabilitative shoe motor, on-line real time monitoring rehabilitative shoe is moved at each
The positional information at moment.
When people's posture is abnormal, such as when human body is fallen forward, the anterior partial pressure signal enhancing of biped, rectus femoris and shin
Before bone, the surface electromyogram signal of flesh also strengthens, while the forwards components signal of waist angular acceleration signal also strengthens, now, passes through
Pressure signal acquisition module 201, acceleration signal acquisition module 202 and surface electromyogram signal acquisition module 203 are gathered accordingly
Pressure signal, acceleration signal and electromyographic signal, and computer module is transmitted a signal to, carried by signal transacting, characteristic value
Take and pattern-recognition, judge the position and posture of human body, rapidly control signal is sent to drive module, motor, and then
Drive the adjustment mechanism of rehabilitative shoe to be quickly adjusted to the pose of sole, be effectively prevented human body tumble.
It should be appreciated that the purposes of these embodiments is merely to illustrate the present invention and is not intended to limit the protection model of the present invention
Enclose.Additionally, it will also be appreciated that after the technology contents for having read the present invention, those skilled in the art can be without departing from this
On the premise of bright principle, the technical scheme to inventing makes some changes, modification and/or modification, such as moving platform and fixed platform
Shape can be irregular polygon, the connected mode of each part junction is not limited to weld, is threadedly coupled, pin connection or
Ball-joint connects, as long as the connected mode for being adopted can meet the horizontal rotation of each part or Space Rotating, all these
Equivalents are equally fallen within the protection domain limited by the application appended claims.
Claims (9)
1. a kind of rehabilitative shoe, including vamp, sole, the adjustment mechanism being arranged in sole and controller, the adjustment machine
Structure and the controller are arranged in the sole, it is characterised in that the adjustment mechanism include fixed plate, fixing shell and
Drive mechanism；
The fixed plate is installed on the sole, and the fixing shell is connected in the fixed plate, and the fixed plate
Surround to form an accommodation space with the fixing shell, the drive mechanism is arranged in the accommodation space；
The drive mechanism includes leading screw, worm gear, worm screw, motor and mobile support, and the leading screw lower end connects the fixed plate,
The affixed worm gear in the leading screw upper end, the worm gear correspondence connection fixing shell, the worm screw are engaged with the worm gear,
The motor connection is in described worm screw one end；
The mobile support includes platform, pole and chassis, and the platform is engaged with the leading screw, and the pole upper end connects institute
Platform is stated, lower end connects the chassis, and the pole runs through the fixed plate and the sole, and the chassis is connect with ground
Touch；
One end that the chassis is contacted with ground is equipped with pressure sensor, and the pressure sensor is used to obtain pressure signal, institute
Controller is stated for processing pressure signal, and controls the motor movement；
The rehabilitative shoe at least include two adjustment mechanisms, each described adjustment mechanism at least include two leading screws with
And the worm gear with the leading screw equal number, there is on the worm screw quantity and the institute of some thread segments and the thread segment
State worm gear quantity identical.
2. rehabilitative shoe according to claim 1, it is characterised in that offer through hole in the middle of the fixed plate, for making
The pole for stating mobile support passes through, and the first concave station is further opened with the fixed plate, and the lower end of the leading screw is connected by bearing
Mode correspondence is connected at the first concave station of the fixed plate, and two side of the fixed plate is provided with the first screwed hole, for making
The fixed plate is threaded connection and is installed on the sole.
3. rehabilitative shoe according to claim 1, it is characterised in that the fixing shell is inverted U-shaped structure, including roof and
Two side, offers the second concave station on the roof of the fixing shell, the worm gear is connected to by bearing connected mode correspondence
At second concave station of the fixing shell, boss on the side wall of the fixing shell, is offered, the motor is arranged on described
At boss, through hole on the opposite side wall of the fixing shell, is offered, the through hole is run through in described worm screw one end.
4. rehabilitative shoe according to claim 1, it is characterised in that the drive mechanism also includes shaft coupling, the motor
It is connected with the worm screw by the shaft coupling, the platform of the mobile support is provided with size is matched with the leading screw second
Screwed hole, for engaging with the leading screw.
5. the rehabilitative shoe according to any one of Claims 1-4, it is characterised in that the rehabilitative shoe includes three tune
Whole mechanism, each described adjustment mechanism include two leading screws and the worm gear with the leading screw equal number, described
There are on worm screw some thread segments and the quantity of the thread segment is identical with the worm gear quantity.
6. the rehabilitative shoe according to any one of claims 1 to 3, it is characterised in that the fixed plate, the mobile support
The shape on the chassis of platform and the mobile support is each independently circle, ellipse, rectangle, round rectangle or pentagon
In one kind.
7. a kind of control system for controlling rehabilitative shoe, it is characterised in that the control system is used for control such as claim 1
To the rehabilitative shoe described in 6 any one, the control system includes：
Signal transducer, for obtaining plantar pressure signal, acceleration signal and electromyographic signal, the signal transducer includes pressure
Force snesor, acceleration transducer and surface myoelectric sensor；
Position sensor, is arranged in the motor, believes in the position at each motion moment for rehabilitative shoe described in online record
Breath；
Signal acquisition module, for gathering the plantar pressure signal, acceleration signal and electromyographic signal, and the vola is pressed
Force signal, acceleration signal and electromyographic signal are transmitted to computer module, and the signal acquisition module includes that pressure signal is gathered
Module, acceleration signal acquisition module and surface electromyogram signal acquisition module；
Computer module, for receiving and processing the plantar pressure signal, acceleration signal and electromyographic signal, sends control and refers to
Order；
Drive module, the control instruction for being sent according to the computer module make respective drive action, the driving mould
Block includes multi-axis motion control card, driver and motor, control instruction of the driver according to the multi-axis motion control card
The motor movement, the motor is driven to be used to drive the worm screw to rotate to drive the worm gear and the screw mandrel to rotate, from
And drive the mobile support to move along the vertical axial direction of the screw mandrel.
8. the control system for controlling rehabilitative shoe according to claim 7, it is characterised in that the pressure sensor sets
It is placed on the chassis of the mobile support, the acceleration transducer is arranged at the waist of human body, the acceleration transducer is
Six shaft angle acceleration transducers, the surface myoelectric sensor are arranged at human body lower limbs, and the surface myoelectric sensor is surface
Electromyographic electrode.
9. the control system for controlling rehabilitative shoe according to claim 7, it is characterised in that the computer module bag
Data processing unit is included, the data processing unit includes：
Signal processing unit, for being amplified to the plantar pressure signal, acceleration signal and electromyographic signal, shaping and filter
Ripple；
Characteristics extraction unit, for the plantar pressure signal after the signal processing unit processes, acceleration
Signal and electromyographic signal carry out characteristics extraction；
Pattern recognition unit, is described, recognizes, classifies and explains for the characteristic value to being extracted；
Control unit, for sending corresponding control instruction according to the result of the pattern recognition unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410348692.9A CN104102236B (en) | 2014-07-22 | 2014-07-22 | A kind of rehabilitative shoe and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410348692.9A CN104102236B (en) | 2014-07-22 | 2014-07-22 | A kind of rehabilitative shoe and its control system |
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| Publication Number | Publication Date |
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| CN104102236A CN104102236A (en) | 2014-10-15 |
| CN104102236B true CN104102236B (en) | 2017-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410348692.9A Active CN104102236B (en) | 2014-07-22 | 2014-07-22 | A kind of rehabilitative shoe and its control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019058380A1 (en) * | 2017-09-24 | 2019-03-28 | Technion Research And Development Foundation Limited | A robotic shoe for diagnosis and rehabilitation of gait anomalies |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105249589A (en) * | 2015-09-02 | 2016-01-20 | 深圳市前海安测信息技术有限公司 | Healthy shoe and control system preventing elder people tumbling |
| CN106038016B (en) * | 2016-06-29 | 2018-06-19 | 苏州海神联合医疗器械有限公司 | Anti- tumble device based on electromyography signal |
| CN106725509B (en) * | 2016-12-15 | 2020-04-07 | 佛山科学技术学院 | Feature extraction method of biomechanical information |
| CN107183825A (en) * | 2017-06-27 | 2017-09-22 | 上海理工大学 | Orthopedics with falling-resistant function |
| CN107693308A (en) * | 2017-10-26 | 2018-02-16 | 西南交通大学 | Wearable power-assisted walking aid rehabilitation Environmental-protection shoes |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101953592B (en) * | 2010-04-16 | 2012-09-05 | 天津开发区奥金高新技术有限公司 | Automatically adjustable back cushion |
| CN102866640B (en) * | 2012-08-23 | 2014-11-19 | 中国科学院深圳先进技术研究院 | Falling control system and rehabilitation shoe using same |
| CN102783766B (en) * | 2012-08-28 | 2014-11-19 | 中国科学院深圳先进技术研究院 | Fall prevention device |
| CN103021129A (en) * | 2012-12-04 | 2013-04-03 | 东南大学 | System and method for monitoring falling down of old people |
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2014
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019058380A1 (en) * | 2017-09-24 | 2019-03-28 | Technion Research And Development Foundation Limited | A robotic shoe for diagnosis and rehabilitation of gait anomalies |
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| CN104102236A (en) | 2014-10-15 |
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