CN104757983B - For balance function training and the force-measuring shoes of assessment - Google Patents
For balance function training and the force-measuring shoes of assessment Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0464—Walk exercisers without moving parts
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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Abstract
A kind of force-measuring shoes for being used for balance function training and assessing, including first half footwear, later half footwear, preceding shoe-pad, rear shoe-pad, plantar pressure sensor, wireless transport module, first half footwear are connected relative to slide with later half footwear sliding sleeve forms different footwear codes, preceding shoe-pad is arranged in first half footwear, shoe-pad is arranged in later half footwear afterwards, and plantar pressure sensor is arranged in rear shoe-pad.The force-measuring shoes complex equilibrium functional training device of the present invention is used, and personalization loss of weight gait training can be achieved.Patient can be made to carry out lower limb rehabilitation training under comfortable loss of weight environment, it is adaptable to patients with cerebral apoplexy, muscular atrophy, neurotrosis, injury gained in sports etc. cause the rehabilitation training of motor dysfunction of lower limb patient.
Description
Technical field
It is more particularly to a kind of for balance function training and the dynamometry of assessment the present invention relates to a kind of medical rehabilitation instrument
Footwear.
Background technology
According to statistics, China's cerebrovascular disease, Parkinson's, craniocerebral trauma, spinal cord injury annual morbidity respectively for 2,19/,100,000,
100/100000,55.4/10 ten thousand and 6/,100,000.And because aging, natural calamity take place frequently and the increased reason of contingency, hair
Sick rate is increasing year by year.These diseases and damage can cause balance dysfunction, or even disabled.With survive at present 320~400
Exemplified by the seriously ill residual patient of ten thousand cerebrovasculars, balance dysfunction is one of main disability-causing factor.Multiple evidence-based medicals show, put down
Weighing apparatus function exercise is the important way of improvement function, and premise and summarize treatment that assessment of function is then training are carried out to equilibrium function
The requisite measure of effect.
For many years, more advanced product has ultracare and Biodex balance tests to development abroad balance assessment/training system
The digitizer development of training system etc., domestic equilibrium evaluation and training then relatively lags behind, evaluated based on limiting to patent/more
Train equipment.This all uses sufficiently bulky force plate/platform to such product, takes volume, it has not been convenient to transport, and conventional work(
Product can be trained often to lack and can not excite the interest of trainer with visual feedback training, training, make to seem to training by instruction person
Self-distrust.This long-term and dull training, influences rehabilitation process, causes rehabilitation efficacy undesirable.
The content of the invention
The purpose of the present invention, in that solving the above problems, there is provided a kind of use for coordinating walking-function trainer to use
In balance function training and the force-measuring shoes of assessment.
The object of the present invention is achieved like this：A kind of force-measuring shoes for being used for balance function training and assessing, including first half
Footwear, later half footwear, preceding shoe-pad, rear shoe-pad and plantar pressure sensor, first half footwear and later half footwear sliding sleeve, which are connected relative to slide, to be formed
Different footwear codes, preceding shoe-pad is arranged in first half footwear, and rear shoe-pad is arranged in later half footwear, and plantar pressure sensor is arranged on rear footwear
In pad.
The plantar pressure sensor be two, one be arranged on rear shoe-pad front end, another is arranged on rear shoe-pad
Rear end.
Wireless sending module is additionally provided with the preceding shoe-pad, the wireless sending module and plantar pressure sensor telecommunications phase
Even.
The first half footwear and later half footwear are combined and constituted by hard sole and soft vamp respectively, on two hard soles respectively
Provided with can mutual sliding sleeve connected chute and slide rail.
The preceding shoe-pad is cushion pad.
The force-measuring shoes complex equilibrium functional training device of the present invention is used.Personalization loss of weight gait training can be achieved.Can be with
Patient is carried out lower limb rehabilitation training under comfortable loss of weight environment, it is adaptable to patients with cerebral apoplexy, muscular atrophy, neurotrosis,
Injury gained in sports etc. causes the rehabilitation training of motor dysfunction of lower limb patient.
Brief description of the drawings
Fig. 1 is the present invention for balance function training and the structural representation for the force-measuring shoes assessed.
Embodiment
Referring to Fig. 1, the present invention is for balance function training and the force-measuring shoes of assessment, including first half footwear 1, later half footwear 2, preceding footwear
It is pad 3, rear shoe-pad 4, buffer 5, front end plantar pressure sensor 6, rear end plantar pressure sensor 7, wireless sending module 8, fixed
Position knob 9.First half footwear are connected relative to slide with later half footwear sliding sleeve forms different footwear codes, and preceding shoe-pad is arranged in first half footwear,
Shoe-pad is arranged in later half footwear afterwards, and plantar pressure sensor is arranged in rear shoe-pad.
First half footwear and later half footwear in the present invention are combined and constituted by hard sole and soft vamp respectively, in two hard soles
On be respectively equipped with can mutual sliding sleeve connected chute and slide rail.
Wireless sending module 8 is additionally provided with rear shoe-pad in the present invention, the wireless sending module and plantar pressure sensor
Telecom-connect, and be connected with the controller radio communication of balance function training device, human body is applied on pin by controller
Pressure transmission to the operation display of balance function training device show that shown in figure, 9 be positioning knob, for first half footwear
Positioning after being slided between later half footwear is fixed.
Preceding shoe-pad in the present invention is cushion pad.
The present invention for balance function training with assess force-measuring shoes divide it is symmetrical manufacture and design, allow people to be through when using
Ambulation training is carried out on pin.Particularly it is used for the patient of the Critical Limb mobilities such as hemiplegic patient, injury gained in sports patient difference,
The pressure for carrying out producing in ambulation training, walking under loss of weight state is caught by plantar pressure sensor and by wireless sending module
It is sent to the controller of balance function training device, then the pressure transmission that human body is applied on pin by controller is to balancing work(
Can the main frame of trainer be estimated, and send operation display show, can understand immediately the balanced capacities of patient's lower limb with
Condition, is conducive to carrying out rehabilitation training.
The balance training assesses footwear and position of the people on walker can be monitored, to be instructed to people in Unweighting walking
Dynamic equilibrium situation in the case of white silk is estimated.The footwear are put on by instruction person's both feet, when the compression weight sensor sum of left foot
More than right crus of diaphragm, illustrate that the erect-position of people keeps left.When the compression weight sensor sum of right crus of diaphragm is more than left foot, illustrate that the erect-position of people is leaned on
A left side, dynamic equilibrium situation of the people in the case of body weight support treadmill training can be not only monitored using the method, it is also believed that correcting
The erect-position of people is to realize more reasonably lower limb walking weight-losing.In order to carry out dynamic evaluation to patient, in walking scope
It is interior, mark is made according to the step size of patient, carried out again when the position of pin reaches mark when the patient is trained on walker
The center that pin is stepped to set up patient's gravitational equilibrium is used as the progress dynamic evaluation training of balance training reference point.
Gravity center shift in patient's dynamic equilibrium test process is the basis of dynamic posturography parameter evaluation, described below
It will be used in the calculating of parameter, general gravity center of human body (center of gratitude, COG) is before the second rumpbone.The system
In center of gravity projection refer to projection of the gravity center of human body in stride mark center, due in human body at a slow speed walking equilibrium process
Side force very little, therefore gravity center of human body's projected position test philosophy can just be reduced to：
x=[(FA+FB)·T1-(FC+FD)·Tr] L/ (G (Tl+Tr))
y=[(FB·Tl+FD·Tr)-(FA·Tl+FC·Tr)] M/ (G (Tl+Tr))
In formula, L is distances of the O (0 point is left and right walker detection platform center) to the X-axis of sensor, and M is O points to biography
The distance of the Y-axis of sensor, G is the weight of patient's human body after loss of weight, and F A, F B, F C, F D are respectively the reading of four sensors
Several average value, stress size is measured by sensor, T in formulalFor the time effectively acted on the walker of left side, TrFor right side
The time effectively acted on walker.
Frontal plane hunting frequency change algorithm is：Gravity center shift in above-mentioned dynamic equilibrium test process, further according to disease
The projection of people's center of gravity from left field be moved to right side area and from right side area be moved to the number of times of left field and time it
Than that is,：
In formula, N is that center of gravity projects time swung from left field to right side area and from right side area to left field
Number, TlEffectively to act on the time on the walker of left side, TrEffectively to act on the time on the walker of right side.
Average center of gravity during the training of air bag loss of weight dynamic walking is assessed, is reflected in the motion process that stands still, double lower limb is used
The balance of power, absolute value is smaller, represents that balanced degree is better, on the occasion of bigger, shows that right lower extremity is stronger compared with left lower extremity；It is negative
Value is bigger, then conversely.Clinical data shows that average center of gravity projection value is bigger, and body symmetry is poorer, such as stroke hemiplegin person.Its
Patient's center of gravity project migration is defined as apart from the ratio between sum and times of collection, computational methods are：
In formula, Gi is each position for gathering center of gravity project migration；I=1,2,3,4 ... N (i, N are integer), N is selection
Testing time in collection points.
Frontal plane maximum amplitude of oscillation when assessing bladder support loss of weight dynamic motion, reflection patient's double lower limb is exerted oneself in the X direction
The maximum of degrees of offset.The frontal plane maximum amplitude of oscillation shows more greatly patient under loss of weight state, two lower limb during dynamic motion or so
Firmly difference, the difference is relevant with body symmetry, and difference shows that more greatly symmetry is poor, and stability is weak.Relevant disease such as amputation
Person, hemiptegic.
It is defined as the ultimate range that the normal center of gravity of patient's center of gravity project migration projects zero-bit, and its computational methods is：
Smax=Max|Si|
In formula, Si is the length that the normal center of gravity of the center of gravity project migration gathered every time projects zero-bit, i=1,2,3,4 ... N
(i, N are integer).
Under frontal plane average amplitude of oscillation when assessing bladder support loss of weight dynamic motion, reflection patient's loss of weight state, dynamic motion
During shake severe degree and speed in the X direction, its value shows that more greatly patient's balanced capacity is poorer, relevant disease such as cone
Outer system's disease.Its computational methods is：
In formula, Si is the length that the normal center of gravity of the center of gravity project migration gathered every time projects zero-bit, i=1,2,3,4 ... N
(i, N are integer), N is the points of collection in the testing time of selection.
Center of gravity projection motion track total length when bladder support loss of weight stands still is assessed, patient's loss of weight state is reflected
Under, center of gravity projects motion track total length during dynamic motion, and its value shows that more greatly center of gravity project migration is longer apart from summation, patient
Balanced capacity is poorer.
Classified (centre type, Qian Houxing, left right model, multicenter type, diffusion-type) according to track, patient's shape is judged to assess
State, is normally multicenter type.Multicenter type center of gravity projection motion track total length computational methods be：
In formula, Xi, Yi is each coordinate for gathering center of gravity project migration position.(i, N are whole to the N of i=0,1,2,3,4 ...
Number).
The center of gravity projection motion track gross area in the unit interval, reflects unit when assessing bladder support loss of weight dynamic motion
Body controls the stability and balanced degree of center of gravity in time.Under setting same period, before being carried out to the different rehabilitation training phases
After contrast, determine training effect, numerical value is bigger, reflection stability and balance poorer, such as Parkinson's, cerebellar ataxia etc..
Center of gravity projection motion track gross area algorithm is in unit interval：
In formula, Xi, Y i are the coordinate of the position of collection center of gravity project migration every time.(i, N are the N of i=0,1,2,3,4 ...
Integer)；Tc is the time gathered every time.
Frontal plane side slew rate in the unit interval, reflects in the X-axis direction most when assessing bladder support loss of weight dynamic motion
The translational speed that center of gravity is projected during long arc, its value is bigger, represents that gravity's center control is poorer.Relevant disease such as torsion-spasm, dancing
Disease etc..Its computational methods is：
In formula, SmaxFor the previous sampled value of the maximum amplitude of oscillation of frontal plane, T is the sampling time.
Patient assesses the computational methods of good center of gravity percentage in bladder support loss of weight static balance training：It is left in patient
When right bipod is exerted oneself symmetrically and evenly, if its center is normal center of gravity zero-bit, to deviate normal center of gravity zero-bit+50%, to represent center of gravity complete
Clan represents center of gravity in right crus of diaphragm, to deviate normal center of gravity zero-bit 1 50% and fully falls in left foot, and center of gravity falls from normal center of gravity zero
In each region in position the time of (± 5%, ± 5% to ± 10%, ± 10% to ± 20%, ± 20% to ± 30%) than calculating it is public
Formula is as follows：
In formula, n3 be center of gravity from normal center of gravity zero-bit it is above-mentioned it is each value (± 5%, ± 5% to ± 10%, ± 10% to ±
20%th, ± 20% to the ± number of times that 30%) is swung in scope in region, N for collection in the testing time of selection points；
Center of gravity falls bigger in the value from normal center of gravity zero-bit ± 5%, shows that patient's states are better, ± 10% takes second place, ±
20% more takes second place, take second place for ± 30% time.The time ratio within ± 5% is for example controlled after certain person patient's rehabilitation training twice is all
20%, and percentage of time of the gravity's center control within ± 10% increases, then can equally prove having for rehabilitation training
Effect property.
Claims (3)
1. a kind of system for balance function training with assessing, it is characterised in that：Including force-measuring shoes and main frame, described dynamometry
Footwear include first half footwear, later half footwear, preceding shoe-pad, rear shoe-pad and plantar pressure sensor, and first half footwear are connected with later half footwear sliding sleeve can phase
Different footwear codes are formed to slip, preceding shoe-pad is arranged in first half footwear, and rear shoe-pad is arranged in later half footwear, plantar pressure sensor
It is arranged in rear shoe-pad；
The plantar pressure sensor be two, one be arranged on rear shoe-pad front end, another is arranged on the rear end of rear shoe-pad；
Wireless sending module is additionally provided with the preceding shoe-pad, the wireless sending module is telecom-connected with plantar pressure sensor；
The pressure that described main frame is used to be applied to human body on pin is estimated；
The balance training assess footwear position of the people on walker can be monitored, so as to people in body weight support treadmill training feelings
Dynamic equilibrium situation under condition is estimated, and the footwear are put on by instruction person's both feet, when the compression weight sensor sum of left foot is more than
Right crus of diaphragm, illustrates that the erect-position of people keeps left, and when the compression weight sensor sum of right crus of diaphragm is more than left foot, illustrates that the erect-position of people keeps left, adopts
Dynamic equilibrium situation of the people in the case of body weight support treadmill training can be not only monitored with the method；In the range of walking, according to trouble
The step size of person makes mark, and the position of pin reaches and carries out stepping pin setting up again during mark when the patient is trained on walker
The center of patient's gravitational equilibrium carries out dynamic evaluation training as balance training reference point；
Gravity center shift in patient's dynamic equilibrium test process is the basis of dynamic posturography parameter evaluation, the parameter below
Calculating in will use, the projection of center of gravity in patient's dynamic equilibrium test process refers to gravity center of human body in stride mark center
Projection, due to the side force very little in human body at a slow speed walking equilibrium process, therefore the letter of gravity center of human body's projected position test philosophy
Turn to：
X=[(FA+FB)·Tl-(FC+FD)·Tr]·L/(G·(Tl+Tr))
Y=[(FB·Tl+FD·Tr)-(FA·Tl+FC·Tr)]·M/(G·(Tl+Tr))
In formula, L is distances of the O to the X-axis of sensor, and O points are left and right walker detection platform center, and M is O points to sensor
The distance of Y-axis, G is the weight of patient's human body after loss of weight, FA、FB、FC、FDThe average value of the reading of respectively four sensors,
Sensor is symmetrically disposed at below the walker of left and right, and stress size is measured by sensor, T in formulalTo have on the walker of left side
The time of power effect, TrFor the time effectively acted on the walker of right side；
Frontal plane hunting frequency change algorithm is：Gravity center shift in above-mentioned dynamic equilibrium test process, further according to patient's weight
Heart projection is moved to right side area from left field and the ratio between number of times and time of left field is moved to from right side area,
I.e.：
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<mi>N</mi>
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<mi>T</mi>
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</mrow>
</mfrac>
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In formula, N is that center of gravity projects the number of times swung from left field to right side area and from right side area to left field, Tl
Effectively to act on the time on the walker of left side, TrEffectively to act on the time on the walker of right side；
Average center of gravity during the training of air bag loss of weight dynamic walking is assessed, is reflected in the motion process that stands still, what double lower limb was exerted oneself
Balance, absolute value is smaller, represents that balanced degree is better, on the occasion of bigger, shows that right lower extremity is stronger compared with left lower extremity；Negative value is got over
Greatly, then conversely；Clinical data shows that average center of gravity projection value is bigger, and body symmetry is poorer, and it is defined as the projection of patient's center of gravity
The ratio between offset distance sum and times of collection, computational methods are：
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<mo>=</mo>
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In formula, Gi is each position for gathering center of gravity project migration；The N of i=1,2,3,4 ..., i, N are integer, and N is the survey of selection
The points of collection in the examination time；
Frontal plane maximum amplitude of oscillation when assessing bladder support loss of weight dynamic motion, reflection patient double lower limb is firmly offset in the X direction
The maximum of degree, the frontal plane maximum amplitude of oscillation shows more greatly patient under loss of weight state, and two lower limb are exerted oneself during dynamic motion or so
Difference, the difference is relevant with body symmetry, and difference shows that more greatly symmetry is poor, and stability is weak；
It is defined as the ultimate range that the normal center of gravity of patient's center of gravity project migration projects zero-bit, and its computational methods is：
Smax=Max | Si |
In formula, Si is the length that the normal center of gravity of the center of gravity project migration gathered every time projects zero-bit, i=1,2,3,4 ... N, i, N
For integer；
Under frontal plane average amplitude of oscillation when assessing bladder support loss of weight dynamic motion, reflection patient's loss of weight state, dynamic movement process
In shake severe degree and speed in the X direction, its value shows that more greatly patient's balanced capacity is poorer, and its computational methods is：
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<mover>
<mi>S</mi>
<mo>&OverBar;</mo>
</mover>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<mo>|</mo>
<mi>S</mi>
<mi>i</mi>
<mo>|</mo>
</mrow>
<mi>N</mi>
</mfrac>
</mrow>
In formula, Si is the length that the normal center of gravity of the center of gravity project migration gathered every time projects zero-bit, i=1,2,3,4 ... N, i, N
For integer, N is the points of collection in the testing time of selection；
Center of gravity projection motion track total length when bladder support loss of weight stands still is assessed, reflects under patient's loss of weight state, moves
Center of gravity projection motion track total length when state is moved, its value shows that more greatly center of gravity project migration is longer apart from summation, patient's balance
Ability is poorer；
Assess judgement patient's states according to track classification, track classification include centre type, Qian Houxing, left right model, multicenter type,
Diffusion-type, is normally multicenter type, and the computational methods of multicenter type center of gravity projection motion track total length are：
In formula, Xi, YiFor the coordinate of collection center of gravity project migration position every time, the N of i=0,1,2,3,4 ..., i, N are integer；
The center of gravity projection motion track gross area in the unit interval, reflects the unit interval when assessing bladder support loss of weight dynamic motion
Interior body controls the stability and balanced degree of center of gravity, right before and after being carried out to the different rehabilitation training phases under setting same period
Than determining training effect, numerical value is bigger, reflection stability and balance are poorer, the total face of center of gravity projection motion track in the unit interval
Integration method is：
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<mi>&pi;</mi>
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<mo>(</mo>
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<mi>N</mi>
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<mi>c</mi>
</mrow>
</mfrac>
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In formula, Xi, YiFor the coordinate of the position of collection center of gravity project migration every time, the N of i=0,1,2,3,4 ..., i, N are integer；
Tc is the time gathered every time；
Frontal plane side slew rate in unit interval when assessing bladder support loss of weight dynamic motion, reflection is most put in the X-axis direction
The translational speed that center of gravity is projected during width, its value is bigger, represents that gravity's center control is poorer, its computational methods is：
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In formula, S'maxFor the previous sampled value of the maximum amplitude of oscillation of frontal plane, T is the sampling time；
Patient assesses the computational methods of good center of gravity percentage in bladder support loss of weight static balance training：In patient or so two
When pin is exerted oneself symmetrically and evenly, if its center is normal center of gravity zero-bit, representing center of gravity to deviate normal center of gravity zero-bit+50% all falls
In right crus of diaphragm, center of gravity is represented to deviate normal center of gravity zero-bit -50% and fully falls in left foot, center of gravity falls each from normal center of gravity zero-bit
In region, i.e., ± 5%, ± 5% to ± 10%, ± 10% to ± 20%, ± 20% to ± 30% time than calculation formula
It is as follows：
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</mfrac>
<mo>&times;</mo>
<mn>100</mn>
<mi>%</mi>
</mrow>
In formula, n3Be center of gravity from the above-mentioned each value of normal center of gravity zero-bit, i.e., ± 5%, ± 5% to ± 10%, ± 10% to ±
20%th, the number of times swung in ± 20% to ± 30% region in scope, N is the points of collection in the testing time of selection；
Center of gravity falls bigger in the value from normal center of gravity zero-bit ± 5%, shows that patient's states are better, ± 10% takes second place, ± 20% more
Take second place, take second place for ± 30% time.
2. the system according to claim 1 for balance function training with assessing, it is characterised in that：The first half footwear and
Later half footwear are combined and constituted by hard sole and soft vamp respectively, be respectively equipped with two hard soles can mutually sliding sleeve be connected
Chute and slide rail.
3. the system according to claim 1 for balance function training with assessing, it is characterised in that：The preceding shoe-pad is
Cushion pad.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410005152.0A CN104757983B (en) | 2014-01-06 | 2014-01-06 | For balance function training and the force-measuring shoes of assessment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410005152.0A CN104757983B (en) | 2014-01-06 | 2014-01-06 | For balance function training and the force-measuring shoes of assessment |
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| Publication Number | Publication Date |
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| CN104757983A CN104757983A (en) | 2015-07-08 |
| CN104757983B true CN104757983B (en) | 2017-09-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106307804A (en) * | 2016-09-22 | 2017-01-11 | 苏州大学 | Intelligent insole and method for rehabilitation training in remote medical mode |
| CN111135537B (en) * | 2020-01-03 | 2021-06-15 | 徐州昊威健身器材有限公司 | Platform and treadmill that all-round displacement was offset |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100004566A1 (en) * | 2008-01-11 | 2010-01-07 | Esoles, L,L.C. | Intelligent orthotic insoles |
| CN201451597U (en) * | 2009-06-17 | 2010-05-12 | 上海市杨浦区齐齐哈尔路第一小学 | Size-adjustable skates |
| CN103251170B (en) * | 2012-02-16 | 2015-09-02 | 安德润普科技开发（深圳）有限公司 | A kind of pressure monitoring footwear |
| CN103462619A (en) * | 2013-09-30 | 2013-12-25 | 厦门大学 | Plantar pressure measuring device and gait mode identification method using same |
| CN203662768U (en) * | 2014-01-06 | 2014-06-25 | 上海理工大学 | Dynamometry shoe used for equilibrium function training and evaluation |
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| CN104757983A (en) | 2015-07-08 |
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