CN105056482B - Gait corrects sensory feedback apparatus and system - Google Patents
Gait corrects sensory feedback apparatus and system Download PDFInfo
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- CN105056482B CN105056482B CN201510427318.2A CN201510427318A CN105056482B CN 105056482 B CN105056482 B CN 105056482B CN 201510427318 A CN201510427318 A CN 201510427318A CN 105056482 B CN105056482 B CN 105056482B
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Abstract
The invention provides gait correct sensory feedback apparatus and system, including circuit board, battery, vibrator, adherent base and encapsulation main body；The encapsulation main body sampling silica gel is made.The battery is arranged on the downside of the circuit board；The vibrator is arranged between the inner surface of the battery and the adhesion base；The outer surface of the adherent base is used to connect human body skin；The cell electrical connects the circuit board and the vibrator；The lower surface of the encapsulation main body connects the adherent base and forms encapsulated space；The circuit board, the battery, the vibrator are arranged in the encapsulated space；The circuit board is used to gather sensor information, controls the carry out vibrational feedback of vibrator and communicated with host computer；Battery is used to power for the circuit board and the vibrator；The vibrator is used to provide vibrational feedback.The present invention is provided with inertial sensor, can accurately measure acceleration signal, angular velocity signal and direction signal.
Description
Technical field
The present invention relates to correction system, in particular it relates to which a kind of gait corrects sensory feedback apparatus and system.
Background technology
Requirement of the gait correction sensor to volume is very high, and excessive volume can reduce the comfortableness of wearing.Traditional step
State correction sensor uses plastic casing substantially, and the method for packing can make sensor bulk become big.
By the retrieval to prior art, Application No. 200820154645.0, entitled lower limb gait correcting device are found
Control device, disclose a kind of lower limb gait appliance controller.Including a computer, one piece of motion control card, one piece
Data collecting card, four motor drivers, four joint angles sensors and control software, motion control card and data collecting card
Installation is in a computer；Four digital signal output ports of motion control card input with the signal of four motor drivers respectively
Port is connected；Four motor drivers are connected with four servomotors installed on rectifier respectively；Four angular transducers point
An Zhuan not be in four joint rotating shafts of rectifier, its output line inputs with four analog signals of data collecting card respectively
Port is connected.When patient dresses lower limb gait correcting device progress ambulation training, this control device can control the four of rectifier
Individual joint rotates according to target trajectory, drives patient's both legs to walk on a treadmill, while can be by turn in four joints
The information such as dynamic angle, training time, gait cycle, walking speed are shown over the display, and patient is controlled for rehabilitation doctor
The assessment of therapeutic effect provides data and foundation.But the utility model is complicated, it has not been convenient to installation and carrying.
The content of the invention
For in the prior art the defects of, it is an object of the invention to provide a kind of correction of gait sensory feedback device and to be
System.The present invention uses silica gel packaging sensory feedback device, not only reduces volume, and soft silica gel is also more bonded human body skin
Skin.Traditional gait correction sensor is not only uncomfortable more using cluster wearing method, and can influence measurement accuracy.
The gait correction sensory feedback device provided according to an aspect of the present invention, including circuit board, battery, vibration
Device, adherent base and encapsulation main body；
The battery is arranged on the downside of the circuit board；The vibrator is arranged on the battery and the adherent base
Inner surface between；The outer surface of the adherent base is used to connect human body skin；The cell electrical connects the circuit board
With the vibrator；
The inner surface that the lower surface of the encapsulation main body connects the adherent base forms encapsulated space；The circuit board,
The battery, the vibrator are arranged in the encapsulated space；
The circuit board is used to gather sensor information, control vibrator progress vibrational feedback and led to host computer
Letter；Battery is used to power for the circuit board and the vibrator；The vibrator is used to provide vibrational feedback.
Preferably, the encapsulation main body is made of silica gel.
Preferably, the circuit board includes the first CPU, the first wireless module and inertial sensor；
Wherein, first wireless module, the inertial sensor are electrically connected the first CPU；
The inertial sensor is used to gather sensor information；
First CPU is used to obtaining and handle sensor information, control vibrator carries out vibrational feedback and by the
One wireless module sends sensor information to host computer；
First wireless module is used to be communicated with host computer.
Preferably, the inertial sensor includes acceleration transducer, gyroscope and magnetometer；
The sensor information includes acceleration signal, angular velocity signal and direction signal；
The acceleration transducer is used to gather acceleration signal；
The gyroscope is used to gather angular velocity signal；
The magnetometer is used to gather direction signal.
Preferably, the circuit board also includes power management module and charging programming contact；
The charging programming contact is electrically connected the battery and the first CPU respectively, for being carried out to the battery
Charge and the first CPU is programmed electrically；The battery is electrically connected described the by the power management module
One CPU, first wireless module and the inertial sensor；
The encapsulated space upper surface is provided with opening；The charging programming contact is arranged in the opening.
The gait correction sensory feed-back system provided according to another aspect of the present invention, including the correction of described gait pass
Feel feedback device, in addition to data processing equipment；
Wherein, data processing equipment described in the gait correction sensory feedback device wireless connection；
The gait correction sensory feedback device is used to be adhered to each position of user and believes the sensor collected
Breath is logical to be given data processing equipment and reception and performs the feedback command of the data processing equipment；
The data processing equipment is used to calculate body gait parameter according to the sensor information, and by the human body
Gait parameter and preferable gait parameter carry out comparing calculation and go out feedback parameter, and then the feedback command that will be generated according to feedback parameter
Send to the gait and correct sensory feedback device to correct the gait of user.
Preferably, the data processing equipment includes the second wireless module, the 2nd CPU, display module, bluetooth module, deposited
Card storage and USB interface；
Wherein, second wireless module, the display module, the bluetooth module, the storage card and USB interface are equal
Connect the 2nd CPU；
2nd CPU is used to calculate body gait parameter according to the sensor information, and by the body gait
Parameter and preferable gait parameter carry out comparing calculation and go out feedback parameter, and then generate feedback command；
Second wireless module is used to receive the sensor information of the gait correction sensory feedback device and sent anti-
Feedback instruction corrects sensory feedback device to gait is passed；
The display module is used to show the body gait parameter and the feedback parameter；
The bluetooth module be used to sending human body gait parameter to cell-phone customer terminal to and receive the control of cell-phone customer terminal
Instruction；
The storage card is used for storage sensor information and feedback parameter；
The USB interface is used to send sensor information and feedback parameter to computer client and receive computer client
Control instruction.
Preferably, the body gait parameter and preferable gait parameter are subjected to comparing calculation and go out feedback parameter including as follows
Step：
Step 1：Sensor information is split, obtains sensor raw data, and be filtered；
Step 2：Based on sensor fusion algorithm, sensor is calculated under earth coordinates according to sensor raw data
Angle；
Step 3：Human body motion track is calculated according to sensor raw data and obtains human motion direction vector；
Step 4：According to angle and human motion direction vector of the sensor under geodetic coordinates, body gait is calculated, and
Body gait and preferable gait parameter are contrasted, and then generate feedback parameter.
Preferably, the detailed process that data processing equipment is corrected according to sensor information to sensor, including it is as follows
Step：
Step 1：Sensor information is split, obtains sensor raw data, and be filtered；
Step 2：Based on sensor fusion algorithm, sensor is calculated under earth coordinates according to sensor raw data
Angle；
Step 3：According to being sensed during required movement during ideal under angle and actual conditions of the sensor under earth coordinates
Angle of the device under earth coordinates, the alignment error of estimated sensor；
Step 4：The sensor information received later is corrected, so as to reach the purpose for reducing alignment error.
Compared with prior art, the present invention has following beneficial effect：
1st, the present invention is provided with inertial sensor, can accurately measure acceleration signal, angular velocity signal and direction signal；
2nd, the present invention is provided with vibrator, being capable of Real-time Feedback vibration signal prompting user；
3rd, the present invention is simple and reasonable, easy to spread；
4th, the present invention is packaged using silica gel, and skin can be more bonded with certain flexibility.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of circuit board in the present invention.
In figure：
1 is circuit board；
2 be battery；
3 be vibrator；
4 be adherent base；
5 be encapsulation main body；
6 be the first CPU；
7 be the first wireless module；
8 be inertial sensor；
9 be button；
10 be switch；
11 be indicator lamp；
12 be power management module；
13 be charging programming contact.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
In the present embodiment, gait provided by the invention correction sensory feedback apparatus and system include circuit board 1, battery 2,
Vibrator 3, adherent base 4 and encapsulation main body 5；
The battery 2 is arranged on the downside of the circuit board 1；The vibrator 3 is arranged on the battery 2 and the adhesion
Between the inner surface of substrate 4；The outer surface of the adherent base 4 is used to connect human body skin；The battery 2 is electrically connected described
Circuit board 1 and vibrator 3；
The inner surface that the lower surface of the encapsulation main body 5 connects the adherent base 4 forms encapsulated space；The circuit board
1st, the battery 2, the vibrator 3 are arranged in the encapsulated space；
The circuit board 1 is used to gather sensor information, control vibrator progress vibrational feedback and carried out with host computer
Communication；Battery is used to power for the circuit board 1 and vibrator 3；The vibrator 3 is used to provide vibrational feedback；The encapsulation
Body 5 is made of silica gel；
In the present embodiment, adherent base 4 is arranged on bottommost, between skin and encapsulation main body, solves silica gel not
Viscous problem, the present invention are packaged using silica gel 5, make device have certain flexibility to be more bonded skin and saved space again.
The circuit board 1 includes the first CPU, the first wireless module 7, inertial sensor 8, button 9, switch 10, indicator lamp
11st, power management module 12 and charging programming contact 13；First wireless module 7, inertial sensor 8, indicator lamp 11 are electric
Connect the first CPU；The button 9 is electrically connected the first CPU, and the battery 2 is indicated by the electrical connection of switch 10
Lamp 11, the first CPU, first wireless module 7 and the inertial sensor 8；The charging programming contact 13 electrically connects respectively
Connect the battery 2 and the first CPU；The battery 2 by the power management module 12 be electrically connected the first CPU,
First wireless module 7 and the inertial sensor 8.
The encapsulated space upper surface is provided with opening；The charging programming contact 13 is arranged in the opening.
The inertial sensor is used to gather sensor information；The inertial sensor includes acceleration transducer, gyro
Instrument and magnetometer；The sensor information includes acceleration signal, angular velocity signal and direction signal；The acceleration sensing
Device is used to gather acceleration signal；The gyroscope is used to gather angular velocity signal；The magnetometer is used to gather direction signal.
First CPU6 is used to obtain and handle sensor information, controls vibrator 3 to carry out vibrational feedback and by first
Wireless module 7 sends sensor information to host computer；First wireless module 7 is used to be communicated with host computer
Button 9 is used to send mode of operation switching signal, and the first CPU is operated according to mode of operation switching signal
Pattern switching；The switch 10 controls gait provided by the invention for being switched on or switched off the electrical connection of battery 2 and system
Sensory feedback device is corrected to start or close.Indicator lamp 11 is used for the dress for indicating the gait correction sensory feedback device that invention provides
Put running status.It is the first CPU, first wireless module 7 and the inertial sensor 8 that power management module 12, which is used for,
Reliable and stable power supply is provided.Charging programming contact 13 is used to carry out contacting charging with charger and be programmed CPU.
Gait provided by the invention corrects sensory feed-back system, including described gait correction sensory feedback device, also wraps
Include data processing equipment；
Wherein, data processing equipment described in the gait correction sensory feedback device wireless connection；
The gait correction sensory feedback device is used to be adhered to each position of user and believes the sensor collected
Breath is logical to be given data processing equipment and reception and performs the feedback command of the data processing equipment；
The data processing equipment is used to calculate body gait parameter according to the sensor information, and by the human body
Gait parameter and preferable gait parameter carry out comparing calculation and go out feedback parameter, and then the feedback command that will be generated according to feedback parameter
Send to the gait and correct sensory feedback device to correct the gait of user.
The data processing equipment include the second wireless module, the 2nd CPU, display module, bluetooth module, storage card and
USB interface；Wherein, second wireless module, the display module, the bluetooth module, the storage card and USB interface are equal
Connect the 2nd CPU；2nd CPU is used to calculate body gait parameter according to the sensor information, and by described in
Body gait parameter and preferable gait parameter carry out comparing calculation and go out feedback parameter, and then generate feedback command；Second nothing
Wire module is used to receive the sensor information of the gait correction sensory feedback device and send feedback command to correct to gait is passed
Sensory feedback device；The display module is used to show the body gait parameter and the feedback parameter；The bluetooth module
For send human body gait parameter to cell-phone customer terminal to and receive the control instruction of cell-phone customer terminal；The storage card is used to deposit
Store up sensor information and feedback parameter；The USB interface is used to send sensor information and feedback parameter to computer client simultaneously
Receive the control instruction of computer client.
The body gait parameter and preferable gait parameter progress comparing calculation are gone out feedback parameter and comprised the following steps：
Step 1：Sensor information is split, obtains sensor raw data, and be filtered；
Step 2：Based on sensor fusion algorithm, sensor is calculated under earth coordinates according to sensor raw data
Angle；
Step 3：Human body motion track is calculated according to sensor raw data and obtains human motion direction vector；
Step 4：According to angle and human motion direction vector of the sensor under geodetic coordinates, body gait is calculated, and
Body gait and preferable gait parameter are contrasted, and then generate feedback parameter.
The detailed process that data processing equipment is corrected according to sensor information to sensor, comprises the following steps：
Step 1：Sensor information is split, obtains sensor raw data, and be filtered；
Step 2：Based on sensor fusion algorithm, sensor is calculated under earth coordinates according to sensor raw data
Angle；
Step 3：According to being sensed during required movement during ideal under angle and actual conditions of the sensor under earth coordinates
Angle of the device under earth coordinates, the alignment error of estimated sensor；
Step 4：The sensor information received later is corrected, so as to reach the purpose for reducing alignment error.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (5)
1. a kind of gait corrects sensory feedback device, it is characterised in that including circuit board, battery, vibrator, adherent base and envelope
Fill body；
The battery is arranged on the downside of the circuit board；The vibrator is arranged on the interior of the battery and the adherent base
Between surface；The outer surface of the adherent base is used to connect human body skin；The cell electrical connects the circuit board and institute
State vibrator；
The inner surface that the lower surface of the encapsulation main body connects the adherent base forms encapsulated space；It is the circuit board, described
Battery, the vibrator are arranged in the encapsulated space；
The circuit board is used to gather sensor information, control vibrator progress vibrational feedback and communicated with host computer；
Battery is used to power for the circuit board and the vibrator；The vibrator is used to provide vibrational feedback；
The encapsulation main body is made of silica gel；
The circuit board includes the first CPU, the first wireless module and inertial sensor；
Wherein, first wireless module, the inertial sensor are electrically connected the first CPU；
The inertial sensor is used to gather sensor information；
First CPU is used to obtain and handle sensor information, controls vibrator to carry out vibrational feedback and by the first nothing
Wire module sends sensor information to host computer；
First wireless module is used to be communicated with host computer；
The inertial sensor includes acceleration transducer, gyroscope and magnetometer；
The sensor information includes acceleration signal, angular velocity signal and direction signal；
The acceleration transducer is used to gather acceleration signal；
The gyroscope is used to gather angular velocity signal；
The magnetometer is used to gather direction signal；
The circuit board also includes power management module and charging programming contact；
The charging programming contact is electrically connected the battery and the first CPU respectively, for being charged to the battery
And the first CPU is programmed；The battery is electrically connected the first CPU, institute by the power management module
State the first wireless module and the inertial sensor；
The encapsulated space upper surface is provided with opening；The charging programming contact is arranged in the opening.
2. a kind of gait corrects sensory feed-back system, it is characterised in that corrects and passes including the gait described in any one of claim 1
Feel feedback device, in addition to data processing equipment；
Wherein, data processing equipment described in the gait correction sensory feedback device wireless connection；
The gait correction sensory feedback device is used to be adhered to each position of user and lead to the sensor information collected
Give data processing equipment and reception and perform the feedback command of the data processing equipment；
The data processing equipment is used to calculate body gait parameter according to the sensor information, and by the body gait
Parameter and preferable gait parameter carry out comparing calculation and go out feedback parameter, and then the feedback command generated according to feedback parameter is sent
Sensory feedback device is corrected to the gait to correct the gait of user.
3. gait according to claim 2 corrects sensory feed-back system, it is characterised in that the data processing equipment includes
Second wireless module, the 2nd CPU, display module, bluetooth module, storage card and USB interface；
Wherein, second wireless module, the display module, the bluetooth module, the storage card and USB interface are all connected with
2nd CPU；
2nd CPU is used to calculate body gait parameter according to the sensor information, and by the body gait parameter
Comparing calculation is carried out with preferable gait parameter and goes out feedback parameter, and then generates feedback command；
Second wireless module is used to receive the sensor information of the gait correction sensory feedback device and send feedback to refer to
Order corrects sensory feedback device to gait is passed；
The display module is used to show the body gait parameter and the feedback parameter；
The bluetooth module be used to sending human body gait parameter to cell-phone customer terminal to and receive the control instruction of cell-phone customer terminal；
The storage card is used for storage sensor information and feedback parameter；
The USB interface is used to send sensor information and feedback parameter to computer client and receives the control of computer client
Instruction.
4. gait according to claim 3 corrects sensory feed-back system, it is characterised in that by the body gait parameter and
Preferable gait parameter progress comparing calculation goes out feedback parameter and comprised the following steps：
Step 1：Sensor information is split, obtains sensor raw data, and be filtered；
Step 2：Based on sensor fusion algorithm, angle of the sensor under earth coordinates is calculated according to sensor raw data
Degree；
Step 3：Human body motion track is calculated according to sensor raw data and obtains human motion direction vector；
Step 4：According to angle and human motion direction vector of the sensor under geodetic coordinates, body gait is calculated, and by people
Body gait and preferable gait parameter are contrasted, and then generate feedback parameter.
5. gait according to claim 2 corrects sensory feed-back system, it is characterised in that data processing equipment is according to sensing
The detailed process that device information is corrected to sensor, comprises the following steps：
Step 1：Sensor information is split, obtains sensor raw data, and be filtered；
Step 2：Based on sensor fusion algorithm, angle of the sensor under earth coordinates is calculated according to sensor raw data
Degree；
Step 3：According to angle and actual conditions lower sensor of the sensor under earth coordinates exist during ideal during required movement
Angle under earth coordinates, the alignment error of estimated sensor；
Step 4：The sensor information received later is corrected, so as to reach the purpose for reducing alignment error.
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| CN201510427318.2A CN105056482B (en) | 2015-07-20 | 2015-07-20 | Gait corrects sensory feedback apparatus and system |
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| CN108114399B (en) * | 2017-04-10 | 2019-11-05 | 南京城市职业学院 | Running posture correction system and method |
| CN107822640A (en) * | 2017-10-24 | 2018-03-23 | 北京淳浩科技有限公司 | Self-defined foot vibration prompt system based on form identification technology |
| CN111407473B (en) * | 2020-03-26 | 2022-06-21 | 西南医科大学附属医院 | Vibration feedback device for improving artificial limb gait and vibration feedback control method thereof |
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| JP2006153800A (en) * | 2004-12-01 | 2006-06-15 | Denso Corp | Sensor system for physical quantities |
| JP2006308498A (en) * | 2005-04-28 | 2006-11-09 | Fujitsu Media Device Kk | Angular velocity sensor |
| CN203802470U (en) * | 2013-11-29 | 2014-09-03 | 平安科技（深圳）有限公司 | Human neck movement amount detection device |
| CN205055324U (en) * | 2015-07-20 | 2016-03-02 | 上海交通大学 | Sensing feedback device is corrected to gait |
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