CN104280177A - Plantar pressure testing device and total-fabric insole with plantar pressure testing device - Google Patents
Plantar pressure testing device and total-fabric insole with plantar pressure testing device Download PDFInfo
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- CN104280177A CN104280177A CN201410513878.5A CN201410513878A CN104280177A CN 104280177 A CN104280177 A CN 104280177A CN 201410513878 A CN201410513878 A CN 201410513878A CN 104280177 A CN104280177 A CN 104280177A
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Abstract
The invention discloses a plantar pressure testing device and a total-fabric insole with the plantar pressure testing device. The plantar pressure testing device is characterized by comprising a plurality of sensor generating devices corresponding to points to be tested, each sensor generating device comprises an electrostatic spinning PVDF pressure fiber mesh, the upper side and the lower side of each electrostatic spinning PVDF pressure fiber mesh are provided with a pair of conductive corduroy, and protruding strips on the electrostatic spinning PVDF pressure fiber meshes and the conductive corduroy are arranged in a relatively staggered mode; the first conductive corduroy and the second conductive corduroy are connected with a signal transmission device, and the function of detecting the plantar pressure is achieved by monitoring the first conductive corduroy and the second conductive corduroy. According to the plantar pressure testing device, the pressure of the different plantar positions can be measured at any time and any place through electric signals produced through plantar pressurizing. The plantar pressure testing device can be used for dynamically testing any frequency produced during walking, running, jumping and the like, the plantar pressure testing device can be combined with shoes worn in daily life, and using is convenient and comfortable.
Description
Technical field
The present invention relates to a kind of distributed sole pressure test device of making based on Static Spinning PVDF fleece piezoelectric effect and the full fabric shoe-pad with this device, belong to wearable intelligent textile technical field.
Background technology
Plantar pressure is an important evidence of reflection human figure feature, and plantar nervous arch is at biomechanics, rectification surgery, and the various fields such as medical science of recovery therapy have important effect.There is great limitations in pressure test plate and the test board technology of current Clinical practice, and wearable pressure footwear and pressure shoe-pad convenient test comparatively advanced, but be still in conceptual phase.The major product succeeded in developing has: the Pedar shoe-pad pressure system of German NOVEL company, the F-Scan Mobile shoe-pad system of TEKSCAN company of the U.S., the two all adopts capacitance type sensor, the situation of change of dynamic plantar pressure can be measured, but capacitive sensing is subject to the humiture impact of environment for use, and these sensing responsive unit adopt the thin-film package of breathable moisture permeability difference, breathable moisture permeability is poor, is not suitable for the monitoring of long-time free of discontinuities; The sole pressure test instrument of RSSCAN company of Belgium adopts piezoresistive transducer to form testing cushion, and thickness is 12mm at least, is not suitable for embedding in footwear and tests plantar pressure.And the gordian technique of these products above is all not open.
Shoe-pad internal sensor kind is varied, can be divided into film pressure drag type pressure capsule, piezoceramic transducer, piezoelectric film sensor, piezoresistive pickup, force sensing resistance transducer etc.Partial monopoly technology is had and academic documents is disclosed in China, as patent of invention " insole type sole pressure measurement device " (publication number: CN201267478), this patent adopts piezo ceramic element as signal gathering unit, and vola three-dimensional pressure can be provided to measure.Because piezo ceramic element rigidity is large, embedding in shoe-pad to make shoe-pad hardness increase, the pressure that harder shoe-pad can disperse the main stress area in vola to bear largely, also flexibility and the snugness of fit of shoe-pad can be affected, and test macro is only limitted to special purpose shoes or naked foot uses, test also exists limitation.Film pressure drag type pressure capsule is adopted in patent " a kind of wireless gait measurement instrument based on plantar pressure " (patent No. CN202096210 U), its needs are connected and fixed by soft salient point and top layer of fibrous, the resistance signal corresponding with pressure could be obtained, salient point and one deck fabric between sole and sensor, be difficult to ensure that the data that this sensor exports are equal with actual value, be subject to temperature, the impacts such as humidity, equally also to exist between sensor sensing material with top layer of fibrous layer not easily consolidation, going between needs defects such as welding.Patent " shoe-pad of band voltage sensitive sensor " (patent No.: CN2057062 U) discloses a kind of sole pressure test insole, pressure sensitive cells is the sandwich structure of iron plate liner clamping voltage sensitive sensor, sacrifices the wearing comfort of shoe-pad itself.Further, this class formation is large because of the otherness between the own material three of shoe-pad, sensor package material and sensing unit, easily slippage occurs each other, affects test result stability.Patent " pliable pressure sensor and pliable pressure sensing array " (patent No.: CN102770742A), it uses the resistive pressure sensor of force sensitive resistive material, causes poor air permeability, and finished product is blocked up simultaneously, in Long-Time Service, comfort level can decline greatly.From the structure of shoe-pad, what have in its shoe-pad inside with the addition of silica gel, as main filling material, add the comfort level of shoe-pad, as " silica gel health care shoes and preparation method thereof and silica gel shoe-pad and preparation method thereof " (patent No. CN102551268 B), silica gel also can corrode by waterproof weak acid and alkali resistance simultaneously, but through trampling for a long time, silica gel effectively can not keep its original shape, brings very large error to measurement.
In addition, " Chinese biomedical engineering journal " the 19th volume the 1st phase in 2000 has delivered paper " development of human gait analysis system one plantar pressure measuring system ", describe a kind of Footscan, core sensing element is semiconductor diffusion type silicon voltage dependent resistor (VDR) sensor array, this sensor integration cost is high, often for embedding fixed sturcture, be not suitable for existing integrated with head between shoe-pad, in test process, steadiness is more weak." piezoelectricity and acousto-optic " the 30th volume the 4th phase in 2008 has delivered paper " application of PVDF piezoelectric membrane in plantar pressure is measured " and the 1st phase in 2011 has delivered paper " design of PVDF plantar pressure sensor and measuring system thereof ", describes the possibility adopting Piezoelectric Film for Designing sensor array to measure for plantar pressure; Textile journal has delivered paper " plantar nervous arch measures the development of shoe-pad " in the 9th phase in 2010, selects film-form PVDF piezoelectric as sensitive element, go between as welding lead in literary composition.The traditional PVDF thin film of direct use is as pressure sensitive cells, often for embedding packaged type, owing to differing larger between shoe-pad material and PVDF thin film, very poor with the stickiness of shoe-pad itself, and its elasticity and comfortableness are well below shoe-pad itself, the lead-in wire that signal exports often needs to adopt welding technology, uses middle easy fracture.In addition, can not be excessive owing to embedding Kynoar (PVDF) the piezoelectric membrane sense core unit area used in shoe-pad, inevitably by causing, produced signal is weak, signal to noise ratio (S/N ratio) is low.Piezoelectric ceramics is applied in " design and implimentation based on the insole type sole pressure test macro of LabVIEW " literary composition that " the sensor world " delivered in the 3rd phase in 2009, its advantage fires conveniently, and moisture-proof is high temperature resistant, shortcoming has pyroelectric, can cause interference to mechanical measurement.Organic piezoelectric materials has poly-difluoroethylene, polyvinyl fluoride, and macromolecular material planted by nylon etc. more than ten, Long-Time Service, can be harmful to health.
The shoe-pad of integrated pressure sensitive unit as test plantar pressure, itself and human foot real-time contact, for ensureing to be in nature, comfortable state in test process, sensor unit and package group zoarium must be frivolous and soft, have the wearing comfort characteristic that shoe-pad material is approximate; For ensureing to be easy to be integrated in shoe-pad and changing the comfortableness of shoe-pad itself hardly, the material-structure of sensor unit must meet the textile material performance of shoe-pad.In addition, in order to reflect the pressure distribution of vola assigned address exactly, the surface area of sensor unit can not be excessive, but current wearable flexible sensor unit is due to the restriction of own material and structure, and when being subject to dynamic pressure, signal stabilization is poor.Because developed pressure transducer will be suitable in the shoe-pad of everyday general purpose, to the pliability of shoe-pad and aeroelastic requirements higher, therefore must select flexible high, sensing material that comfortableness is good and encapsulation and integration technique.
In view of above general introduction, existing plantar pressure surveying instrument is mostly spot measurement, and volume is comparatively large, is difficult to meet and measures requirement.The sensing element that the test footwear developed at present or shoe-pad adopt is mainly based on conductive rubber and foil gauge.And conductive rubber material has lag-effect to recoverable force, and be not suitable with reciprocating pressure change, the particularly test of dynamic force, therefore the stability of system and repeatability are queried.Use PVDF piezoelectric membrane or foil gauge as sensing element, its lead-in wire easily comes off, and structure is simple, function singleness.And the resistive pressure sensor of force sensitive resistive material, sensitivity is low, poor air permeability, the blocked up impact dress of finished product simultaneously, is unfavorable for long-term test; Minority based on the sole pressure test insole of piezoelectric transducer, encapsulating material and structural design unreasonable, steadiness is bad.In order to solve the problem, we devise a novel full fabric pressure test insole.
Summary of the invention
To be solved by this invention be existing plantar pressure surveying instrument mostly for spot measurement, and volume is comparatively large, is difficult to meet the technical matters measured and require.
In order to solve the problem, scheme of the present invention is: provide a kind of sole pressure test device, it is characterized in that, comprise the multiple sensor generating meanss corresponding with tested point, each sensor generating means comprises one piece of Static Spinning PVDF pressure fleece, the fibroreticulate upper and lower both sides of Static Spinning PVDF pressure are provided with pair of conductive corduroy, conduction corduroy one, conduction corduroy two is provided with evenly evenly distributed successively raised line near the fibroreticulate one side of Static Spinning PVDF pressure, conduction corduroy one, when conduction corduroy two clamps Static Spinning PVDF fleece, raised line relative dislocation on both is arranged, conduction corduroy one, conduction corduroy two are connected with signal transmitting apparatus, realize the measuring ability of plantar pressure by the voltage of monitoring conduction corduroy one, conduction corduroy two.
Preferably, described signal transmitting apparatus comprises the lead-in wire one, the lead-in wire two that are arranged in respectively in conduction corduroy one, conduction corduroy two; One end of lead-in wire one, lead-in wire two connects each sensor generating means successively, the other end successively connection signal transmission circuit, signal filters amplifying circuit, sensor generating means change voltage through signal circuit transfer to signal filter amplifying circuit, and from signal filter amplifying circuit voltage output end mouth export.
Present invention also offers a kind of full fabric shoe-pad with above-mentioned sole pressure test device.
Preferably, described sole pressure test device is located at shoe-pad inside.
(left and right) before Static Spinning PVDF piezoelectric fabric net can be distributed in shoe-pad sole, in (left and right), rear (left and right) or other position composition sole pressure test insole.Current existing pressure sensitive cells is based on rigid semiconductor material, lacks comfortableness and dirigibility, and Static Spinning PVDF piezoelectric fabric net itself provided by the present invention has very large flexibility, ventilative and moisture-penetrability, maintains the original snugness of fit of shoe-pad.Misplaced by a pair corduroy front raised line and clamp Static Spinning PVDF fleece, under equal stress condition, add the fibroreticulate deformation extent of PVDF, and then increase its piezoelectric response intensity, provide test susceptibility.Meanwhile, corduroy defines conductive fabric through chemical polymerization process process, in PVDF fleece both sides again as the electrode material collecting piezoelectric signal.In addition, through loop bonding or embroidery introducing one group of conductive fiber (or yarn) in corduroy, they go between as piezoelectric signal, solve lead-in wire in existing pressure test insole and be not easy a difficult problem for consolidation, in Reusability, also can not affect test because of the fracture of certain root conductive fiber (or yarn).Through the Static Spinning PVDF piezoelectric fabric net of encapsulation like this, when corduroy surface in upper strata applies certain pressure, will there is deformation in PVDF piezoelectric fabric net, upper and lower the two poles of the earth certainly exist opposite polarity electric charge, thus in whole circuit, produce electric signal, through wire respectively with R
inand V
outparallel connection, can export electric signal.Signal transmitting apparatus finally sends to universal signal harvester, display device signal, realizes the conversion of the charge signal of the PVDF fleece sensor generation of test shoe-pad, transmission, collection and display.
On material, the present invention selects nontoxic PVDF superpolymer to make PVDF piezoelectric fabric net through Static Spinning, encapsulate as pressure sensitive cells, the large I of sensing unit cuts randomly as required, simply light, also makes sole pressure test insole have good comfortableness.Meanwhile, fibrous by nanoscale of PVDF fleece, surface energy is high, good with corduroy surface attaching property, is clipped in corduroy centre and not easily slides, ensure there is good stablizing effect in human motion test process.In addition, corduroy raised line is durable and have comparatively high resilience, makes can keep good elasticity and repeatability under different motion frequency.In a word, the present invention exerts pressure to PVDF piezoelectric fabric net in using, and the electric signal of generation passes through conversion and then measures the plantar pressure at this position, not affecting tonometric while, add elasticity and the comfortableness of shoe-pad, make long accessible measurement become possibility.
The present invention measures the pressure of vola different parts whenever and wherever possible by the vola electric signal produced of exerting pressure, and this product can be used for the dynamic test of the optional frequencies such as walking, running, jump, and can combine with the footwear of everyday general purpose, easy to use, comfortable.
The present invention conventionally, its technique effect is: adopting shoe-pad to correspond to foot needs the position of test pressure is all arranged based on the fibroreticulate full fabric pressing electric transducer of Static Spinning PVDF, the large I of sensing unit cuts randomly as required, piezoelectric signal transmit leg is based on the loop bonding of textile technology technology or embroider on piezoelectric sensor, structure is relatively simple, stable, can effectively be analyzed the pressure of foot's different parts, judge whether human body is evenly distributed to the pressure in vola according to the size of pressure, the pressure of its foot can be corrected in time, ensure that bone is grown normally.
Material is selected nontoxic PVDF superpolymer through electro-spinning for sensor, not only sensor manufacturing process is simple, and remains the key property of textile material, has good flexibility, comfortableness.Adopt corduroy, PVDF piezoelectric fabric net is clamped between a pair corduroy, effectively enhances the piezoelectric response strength and stability in motion process, decreases the error in test; Its raised line has good elastic recovery and wearing quality, reaches lasting, reusable object; Strengthening the comfort level of shoe-pad simultaneously, pressure shoe-pad inside no longer filled rubber material, makes can keep good elasticity at different conditions, more improves the problem of original hysteresis quality.During measurement, sole gives certain pressure to upper strata corduroy, and the deformation that PVDF thin film occurs can produce corresponding electric signal, and for reducing the interference of other outer signals, the principle adopting filtering secondary to amplify, makes signal expand, improve the signal to noise ratio (S/N ratio) of product.Form one group of pressure transducer of pressure test insole and produce electric signal simultaneously, form a complete interior circuit, the pressure of wherein any point can be recorded, also can record the pressure at each position simultaneously.Drawn the size of measuring point pressure by display module, such accurate positioning, convenient, measuring accuracy is high.
Collecting part of the present invention can make shoe-pad pattern, and can combine with the footwear of everyday general purpose, easy to use.In test process, be equipped with signal acquisition circuit, conversion display circuit, can human locomotion be gathered, run, the dynamic test under the optional frequencies such as jump.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of full fabric shoe-pad with sole pressure test device provided by the invention;
Fig. 2 is the cut-open view of sensor generating means in Fig. 1;
Fig. 3 be sensor generating means stressed time schematic diagram;
Fig. 4 is the circuit diagram of signal transmitting apparatus;
Fig. 5 a for frequency be 1Hz, the magnitude of voltage chart that produces under the intensity triangular wave load effect that is 30N;
Fig. 5 b frequency be 1Hz, the magnitude of voltage chart that produces under the intensity triangular wave load effect that is 24N;
Fig. 5 c frequency be 1Hz, the magnitude of voltage chart that produces under the intensity triangular wave load effect that is 15N;
Fig. 5 d frequency be 2Hz, the magnitude of voltage chart that produces under the intensity triangular wave load effect that is 15N;
Fig. 5 e frequency be 3Hz, the magnitude of voltage chart that produces under the intensity triangular wave load effect that is 15N;
Fig. 5 f frequency be 10Hz, the magnitude of voltage chart that produces under the intensity triangular wave load effect that is 15N.
Embodiment
For making the present invention become apparent, hereby with preferred embodiment, and accompanying drawing is coordinated to be described in detail below.
Embodiment
As shown in Figure 1, for the schematic diagram of a kind of full fabric shoe-pad with sole pressure test device provided provided by the invention, in the interlayer of full fabric shoe-pad, install a kind of sole pressure test device, it comprises six the sensor generating means Cs (lay respectively at the front left of pin, front right, a middle left side, the middle right side, rear left and rear right) corresponding with six tested points.Each sensor generating means C is as shown in Figure 2 (when shoe-pad is stressed, in Fig. 2, arrow is Impact direction, sensor generating means C as shown in Figure 3), comprise one piece of Static Spinning PVDF pressure fleece 3, the both sides up and down of Static Spinning PVDF pressure fleece 3 are provided with pair of conductive corduroy, conduction corduroy 1, conduction corduroy 22 are provided with evenly evenly distributed successively raised line near the one side of Static Spinning PVDF pressure fleece 3, when conduction corduroy 1, conduction corduroy 22 clamp Static Spinning PVDF fleece 3, the raised line relative dislocation on both is arranged; Conduction corduroy 1, conduction corduroy 22 are connected with signal transmitting apparatus, realize the measuring ability of plantar pressure by the voltage of monitoring conduction corduroy 1, conduction corduroy 22.
As shown in Figure 4, signal transmitting apparatus comprises the lead-in wire 1, the lead-in wire 25 that are arranged in respectively in conduction corduroy 1, conduction corduroy 22; Go between 1, one end of lead-in wire 25 connects each sensor generating means successively, the other end successively connection signal transmission circuit 7, signal filters amplifying circuit 6, the sensor generating means voltage that changes transfers to signal through signal circuit 7 and filters amplifying circuit 6, and filters the voltage output end mouth V of amplifying circuit 6 from signal
outexport.Last connection universal signal pickup assembly and signal display apparatus realize test and the evaluation of plantar pressure.It is that a unit benefit increases circuit that signal filters amplifying circuit 6, and comprise filter amplifier and operational amplifier, processed voltage signal is by entering signal transmission ends.Voltage signal is passed to signal pickup assembly by signal circuit 7.Signal transmitting apparatus is connected with signal display apparatus with universal signal harvester, converts voltage signal to digital signal, is presented on the interactive interface of display device.
Test effect:
1, under the identical triangular wave load effect different with intensity of frequency, the piezoelectric response of record sole pressure test device
Under frequency of exerting pressure is the condition of 1Hz, under namely simulating human body walking situation, the magnitude of voltage that the present invention produces under intensity of exerting pressure is respectively the effect of 30N, 24N, 15N triangular wave load is respectively as shown in Fig. 5 a-c.
2, under the identical triangular wave load effect different with frequency of intensity, the piezoelectric response of record sole pressure test device, the responding ability of simulation people shoe-pad sensor when being careful, hurrying up and running
Under intensity of exerting pressure is the condition of 15N, the present invention carries out cyclical movement under frequency of exerting pressure is respectively 1Hz, 2Hz, 3Hz, 10Hz condition, and the magnitude of voltage that the present invention produces is respectively as shown in Fig. 5 c-f.
From Fig. 5 a-f, under the load effect that, intensity identical in frequency increases, piezoelectric response intensity presents obvious change, illustrates that the susceptibility of sole pressure test device of the present invention to load is high, is suitable for plantar nervous arch test; And under the load effect that, frequency identical in intensity increases, piezoelectric response intensity does not present obvious change, and do not occur asynchronous significantly between response frequency and load acting frequency, illustrate that the test process of sole pressure test device of the present invention is not by the impact of acting frequency, dynamic test good stability, is applicable to taking a walk, plantar nervous arch test under the multi-motion such as jog and hurry up.The advantage that these test cases present illustrates, rationally, described full fabric shoe-pad can detect the distribution of plantar pressure at any time, and effectively judges whether wearer exists partially sufficient problem for the sensor generating means that the present invention proposes and signal transmitting apparatus.
Claims (4)
1. a sole pressure test device, it is characterized in that, comprise the multiple sensor generating meanss corresponding with tested point, each sensor generating means comprises one piece of Static Spinning PVDF pressure fleece (3), the both sides up and down of Static Spinning PVDF pressure fleece (3) are provided with pair of conductive corduroy, conduction corduroy one (1), conduction corduroy two (2) is provided with evenly evenly distributed successively raised line near the one side of Static Spinning PVDF pressure fleece (3), conduction corduroy one (1), when conduction corduroy two (2) clamps Static Spinning PVDF fleece (3), raised line relative dislocation on both is arranged, conduction corduroy one (1), conduction corduroy two (2) are connected with signal transmitting apparatus, realize the measuring ability of plantar pressure by the voltage of monitoring conduction corduroy one (1), conduction corduroy two (2).
2. sole pressure test device as claimed in claim 1, it is characterized in that, described signal transmitting apparatus comprises the lead-in wire one (4), the lead-in wire two (5) that are arranged in respectively in conduction corduroy one (1), conduction corduroy two (2); One end of lead-in wire one (4), lead-in wire two (5) connects each sensor generating means successively, the other end successively connection signal transmission circuit (7), signal filters amplifying circuit (6), sensor generating means change voltage through signal circuit (7) transfer to signal filter amplifying circuit (6), and from signal filter amplifying circuit (6) voltage output end mouth (V
out) export.
3. the full fabric shoe-pad with sole pressure test device according to claim 1.
4., as claimed in claim 3 with the full fabric shoe-pad of sole pressure test device, it is characterized in that, described sole pressure test device is located at shoe-pad inside.
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| CN201410513878.5A CN104280177B (en) | 2014-09-29 | 2014-09-29 | A kind of sole pressure test device and the full fabric shoe pad with this device |
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|---|---|---|---|
| CN201410513878.5A CN104280177B (en) | 2014-09-29 | 2014-09-29 | A kind of sole pressure test device and the full fabric shoe pad with this device |
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Cited By (10)
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| CN105708481A (en) * | 2016-01-13 | 2016-06-29 | 大连楼兰科技股份有限公司 | Shoe built-in dynamic plantar pressure sensors based on PVDF (polyvinylidene fluoride) |
| CN106073705A (en) * | 2016-06-01 | 2016-11-09 | 深圳市格兰莫尔寝室用品有限公司 | Piezo-electric device and sleep monitoring device |
| CN106500826A (en) * | 2016-11-28 | 2017-03-15 | 杨松 | Cross beam type jogging sensor and physiological signal collection pad |
| CN108594885A (en) * | 2018-03-30 | 2018-09-28 | 上海思愚智能科技有限公司 | Intelligent temperature control method and control device |
| CN108697338A (en) * | 2018-05-31 | 2018-10-23 | 深圳和而泰数据资源与云技术有限公司 | A kind of Sleeping band and thin film switch |
| CN110200636A (en) * | 2019-07-05 | 2019-09-06 | 北京中硕众联智能电子科技有限公司 | Plantar pressure sensor and its detection pressure, humidity and the method for collecting energy |
| CN110338503A (en) * | 2019-06-14 | 2019-10-18 | 姚水鑫 | A kind of children walking appearance detection prior-warning device |
| CN110361119A (en) * | 2019-07-11 | 2019-10-22 | 南京大学 | A kind of flexibility stress sensor of composite microstructure and preparation method thereof |
| CN110974232A (en) * | 2019-12-26 | 2020-04-10 | 上海交通大学 | Wearable load monitoring and rehabilitation training intelligent auxiliary device |
| CN112741607A (en) * | 2019-10-30 | 2021-05-04 | 北京大学深圳研究生院 | Heart rate recognition device |
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| CN105708481A (en) * | 2016-01-13 | 2016-06-29 | 大连楼兰科技股份有限公司 | Shoe built-in dynamic plantar pressure sensors based on PVDF (polyvinylidene fluoride) |
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| CN106500826A (en) * | 2016-11-28 | 2017-03-15 | 杨松 | Cross beam type jogging sensor and physiological signal collection pad |
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| CN110200636A (en) * | 2019-07-05 | 2019-09-06 | 北京中硕众联智能电子科技有限公司 | Plantar pressure sensor and its detection pressure, humidity and the method for collecting energy |
| CN110200636B (en) * | 2019-07-05 | 2024-02-02 | 北京中硕众联智能电子科技有限公司 | Plantar pressure sensor and method for detecting pressure, humidity and collecting energy by plantar pressure sensor |
| CN110361119A (en) * | 2019-07-11 | 2019-10-22 | 南京大学 | A kind of flexibility stress sensor of composite microstructure and preparation method thereof |
| CN112741607A (en) * | 2019-10-30 | 2021-05-04 | 北京大学深圳研究生院 | Heart rate recognition device |
| CN110974232A (en) * | 2019-12-26 | 2020-04-10 | 上海交通大学 | Wearable load monitoring and rehabilitation training intelligent auxiliary device |
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