CN106038170A - Pedal-type lower limb rehabilitation training robot capable of measuring plantar pressure distribution - Google Patents
Pedal-type lower limb rehabilitation training robot capable of measuring plantar pressure distribution Download PDFInfo
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000013178 mathematical model Methods 0.000 claims abstract description 12
- 210000001872 metatarsal bone Anatomy 0.000 claims description 22
- 210000002683 foot Anatomy 0.000 claims description 13
- 210000001203 second metatarsal bone Anatomy 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 6
- 210000003853 toe phalanges Anatomy 0.000 claims description 6
- 210000003871 fifth metatarsal bone Anatomy 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 3
- 230000001012 protector Effects 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 208000029028 brain injury Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 208000020431 spinal cord injury Diseases 0.000 description 3
- 206010002027 Amyotrophy Diseases 0.000 description 2
- 230000017531 blood circulation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000013316 zoning Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
- A61B5/6895—Sport equipment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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Abstract
The invention discloses a pedal-type lower limb rehabilitation training robot capable of measuring plantar pressure distribution. The rehabilitation training robot is characterized in that a left pedal and a right pedal, which are driven by virtue of a motor and transmitted by virtue of a crank, are arranged on a fixed stand, so that the pair of the pedals, driven by the motor, can run in a rotating form as bicycle pedals; the pedals are provided with pedal bases and are connected to pedal supports by virtue of elastic beams; sensitive elements are arranged on the various elastic beams, so that sensing units are constituted; a mathematical model is established to calibrate the sensing units; and in accordance with tested force on the pedal base plates, strain detection signals of the sensitive elements on the various elastic beams are detected and obtained, and by virtue of the mathematical model, the distribution situation of the tested force on the pedal base plates is obtained. The rehabilitation training robot disclosed by the invention can provide basis for making a training scheme of the pedal-type lower limb rehabilitation training robot.
Description
Technical field
The invention belongs to rehabilitation exercise training Instrument technology field, particularly relate to survey plantar nervous arch foot-operated under
Limbs rehabilitation training robot.
Background technology
The product that rehabilitation machine is combined with rehabilitation medicine as robotics, can help therapist from the health of repeatability
Again treatment work frees, allow patient can stimulate nervous system by suitable training thus progressively recover the fortune of limbs
Dynamic function.Pedal type lower limb rehabilitation training robot with its simple in construction, with low cost, safe and reliable be widely used in each greatly healthy
Answer a pager's call structure, and achieve good rehabilitation efficacy on the patient clinicals such as apoplexy, amyotrophy, brain injury, spinal cord injury.
Most recovery training appliance for recovery are concentrated mainly on the aspects such as the effectiveness of treadmill movement, economy, owing to lacking fortune
Dynamic information feedback, patient is difficult to reasonable adjusting kinematic parameter, causes patient to carry out the science of rehabilitation training and safety is inadequate
High.
Summary of the invention
The present invention is for avoiding the deficiency existing for above-mentioned prior art, it is provided that a kind of survey the foot-operated of plantar nervous arch
Formula lower limbs rehabilitation training robot, foot has important biomechanical information, it is thus achieved that plantar nervous arch is for rehabilitation training
The formulation of plan, significant for clinical diagnose, illness level determinations, postoperative curative effect evaluation etc..
The present invention solves that technical problem adopts the following technical scheme that
The present invention can survey being structurally characterized in that of the pedal type lower limb rehabilitation training robot of plantar nervous arch: described foot-operated
Formula lower limbs rehabilitation training robot is to be built-in with motor and decelerator in fixed frame, motor drive and through crank-driven
The foot-operated both sides being positioned at fixed frame, make a pair to ride and can transport with the rotation formula of bicycle pedals under motor drives
Turn；
Described foot-operated version is:
One pedal bottom plate, a tested foot is positioned over pedal bottom plate and really positions and put, and described determines that position refers to
Each region is divided as follows: ossa suffraginis district, the 3rd to toe bones district, metatarsal district and heel on described pedal bottom plate
Portion, described metatarsal district comprises first metatarsal district, second metatarsal bone district and three to fifth metatarsal bone district；Described heel portion is divided into foot
With medial area and outside of heel district, order: side, ossa suffraginis place is pedal bottom plate the first side, side, toe bones place is the foot-operated end
Plate the second side；
One treadle supporting, described treadle supporting be by pedal bottom plate outer contour shape arrange in upright gusset plate,
The described base of gusset plate is connected with each spring beam on diverse location with the edge of pedal bottom plate, at the one of described gusset plate
Side is provided with support shaft, and one end of crank is arranged in the rotating shaft of motor, and the other end is arranged in described support shaft, makes pedal energy
Enough rotate with crank with the rotating shaft of motor for center of rotation；Described each spring beam arranges sensing element and constitutes sensing unit；
The plantar pressure detection method arranging described foot-operated lower limb rehabilitation apparatus is:
Step a, in the zones of different of described pedal bottom plate be distributed stress point, on stress point load be perpendicular to base plate
Power [F], is obtained strain detecting signal [ε] by the sensing element on each spring beam；According to loading force on stress point [F], and respectively
Strain detecting signal [ε] founding mathematical models is: [C] × [F]=[ε], completes the demarcation to sensing unit, and obtains constant square
Battle array [C]；
Step b, on pedal bottom plate by dynamometry, detection obtains the strain detecting letter of the sensing element on each spring beam
Number, utilize described mathematical model obtain on pedal bottom plate by the distribution situation of dynamometry.
The feature of the pedal type lower limb rehabilitation training robot that the present invention can survey plantar nervous arch lies also in:
Set described by dynamometry as: force position is in the directed force F of first metatarsal head position1, be in second metatarsal bone head
The directed force F of position2, be in the directed force F of the three to five metatarsal district center position3, be in the directed force F in heel medial district4,
And it is in the directed force F in outside of heel district5；
The each spring beam arranged in described sensing unit is set respectively:
Be positioned at pedal bottom plate the first side, corresponding on the pedal bottom plate edge of position, metatarsal district interval the first beam and
Second beam；
It is positioned at pedal bottom plate the second side, corresponding to the 3rd beam on the pedal bottom plate edge of position, metatarsal district；
It is positioned at pedal bottom plate the first side, corresponding to the 4th beam on the pedal bottom plate edge of position, heel medial district；
It is positioned at pedal bottom plate the second side, corresponding to the 5th beam on the bottom edge of position, outside of heel district；
And have: the first sensing element is arranged symmetrically in end face and the bottom surface of the first beam, and the second sensing element is arranged symmetrically in
The end face of the second beam and bottom surface, the 3rd sensing element is arranged symmetrically in end face and the bottom surface of the 3rd beam, and the 4th sensing element is symmetrical
Being arranged in end face and the bottom surface of the 4th beam, the 5th sensing element is arranged symmetrically in end face and the bottom surface of the 5th beam.
The feature of the pedal type lower limb rehabilitation training robot that the present invention can survey plantar nervous arch lies also in: described foot-operated
The plantar pressure detection method of formula lower limb rehabilitation apparatus is:
First, by step a, correspond to be distributed five stress by dynamometry region one_to_one corresponding on described pedal bottom plate
Point, loads the power [F] being perpendicular to base plate on stress point, the sensing element on each spring beam obtains strain detecting signal [ε]；
According to loading force on stress point [F], and each strain detecting signal [ε] founding mathematical models is: [C] × [F]=[ε], completes
Demarcation to sensing unit, and obtain the constant matrices [C] of 5 × 5；
Then, utilize formula (1) to calculate by step b and obtain each directed force F1、F2、F3、F4、F5For:
In formula (1), [C]-1It it is the inverse matrix of 5 × 5 constant matricess [C]；
ε1、ε2、ε3、ε4、ε5It is respectively the first sensing element, the second sensing element, the 3rd sensing element, the 4th sensitive unit
The strain signal that part, the 5th sensing element detection obtain.
Compared with the prior art, the present invention has the beneficial effect that:
1, the size of vola power and distribution situation during the present invention can monitor training in real time, for plantar pressure information
Obtain, science and the safety of rehabilitation training can be improved
2, the present invention can be that lower limb rehabilitation evaluation provides objective basis, is used for assisting patient to carry out symmetrical training, knows
The different walking habits such as turn up in not；
3, detection method is convenient reliably, cannot be only used for static evaluation, it is possible to be used in dynamic evaluation；
4, present configuration is simple, safe and reliable, it is easy to operation；
5, the present invention all be may utilize for patients such as apoplexy, amyotrophy, brain injury, spinal cord injury to be trained, with
Strengthen muscle strength, blood circulation promoting, thus gradually recover extremity motor function.
6, the present invention is suitable to the use of the various different occasions such as hospital and average family.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram；
Fig. 2 is foot pedal structure schematic diagram in the present invention；
Fig. 3 is pedal bottom plate zoning schematic diagram in the present invention；
Label in figure: 1 fixed frame, 2 ride, and 3 left lower limb protector, 4 right lower limb protector, 5 first beams, 6 second beams, 7 pedals prop up
Support, 8 the 4th beams, 9 the 5th beams, 10 the 3rd beams, 11 pedal bottom plates.
Detailed description of the invention
Seeing Fig. 1, the pedal type lower limb rehabilitation training robot that can survey plantar nervous arch in the present embodiment is fixing
Frame 1 is built-in with motor and decelerator, motor drives and through crank-driven foot-operated 2 both sides being positioned at fixed frame 1, make
Ride 2 for a pair to operate with the rotation formula of bicycle pedals under motor drives；This form is for apoplexy, muscle
The patients such as atrophy, brain injury, spinal cord injury all can carry out functional training, to strengthen muscle strength, and blood circulation promoting, gradually
Recover extremity motor function；Left lower limb protector 3 shown in Fig. 1 and right lower limb protector 4 are used for preventing patient not enough because of leg power, foot
Come off from foot-operated, damage.User is sat on the seat, left foot right crus of diaphragm is correspondingly placed at the left and right sides foot-operated in,
Left lower limb protector 3 is fixed on left lower limb, and right lower limb protector 4 is fixed on right lower limb, starts electric machine rotation, and left and right foot together can be transported with foot-operated
Dynamic, carry out functional training with this.
Seeing Fig. 2 and Fig. 3, in the present embodiment, the version of foot-operated 2 is:
One pedal bottom plate 11, a tested foot is positioned over pedal bottom plate 11 and really positions and put, determines that position refers to
Each region is divided as follows: ossa suffraginis district, the 3rd to toe bones district, metatarsal district and heel on pedal bottom plate 11
Portion, described metatarsal district comprises first metatarsal district, second metatarsal bone district and three to fifth metatarsal bone district；Described heel portion is divided into foot
With medial area and outside of heel district, order: side, ossa suffraginis place is pedal bottom plate the first side, side, toe bones place is the foot-operated end
Plate 11 second side.
One treadle supporting 7, treadle supporting 7 be by pedal bottom plate 11 outer contour shape arrange in upright gusset plate,
The base of gusset plate is connected with each spring beam on diverse location with the edge of pedal bottom plate 11, arranges in the side of gusset plate
Having support shaft, one end of crank is arranged in the rotating shaft of motor, and the other end is arranged in described support shaft, and making foot-operated 2 can be with
The rotating shaft of motor is that center of rotation rotates with crank；Each spring beam arranges sensing element and constitutes sensing unit；
The plantar pressure detection method arranging foot-operated lower limb rehabilitation apparatus is:
Step a, in the zones of different of pedal bottom plate 11 be distributed stress point, utilize software ansys workbench for
Stress point loads the power [F] being perpendicular to base plate, the sensing element on each spring beam obtain strain detecting signal [ε], repeatedly add
Carry and corresponding acquisition many groups strain detecting signal；According to loading force [F] on stress point, and each strain detecting signal [ε] is set up
Mathematical model is: [C] × [F]=[ε], completes the demarcation to sensing unit, and obtains constant matrices [C]；Wherein, [F] is many
The expression matrix form of secondary loading force, [ε] is the expression matrix forms organizing strain detecting signal more, and [C] is normal in mathematical model
The expression matrix form of number, it may be assumed that constant matrices；Constant matrices [C] is demarcated by software emulation and is obtained, it is also possible to marked by experiment
Fixed acquisition.
Step b, on pedal bottom plate 11 by dynamometry, detection obtains the strain detecting of the sensing element on each spring beam
Signal, utilize mathematical model obtain on pedal bottom plate 11 by the distribution situation of dynamometry.
In being embodied as, the quantity of foot-operated 2 Elastic beams and position be the distribution situation by the vola power setting detection and
Fixed.
In the present embodiment, in order to obtain patient carry out its foot first metatarsal district in rehabilitation training, second metatarsal bone district,
Five region distribution of forces of three to fifth metatarsal bone district, heel medial district and LHA, set by dynamometry as: at force position
Directed force F in first metatarsal head position1, be in the directed force F of second metatarsal bone head position2, be in the three to five metatarsal district center
The directed force F of position3, be in the directed force F in heel medial district4, and it is in the directed force F in outside of heel district5；It is correspondingly arranged
In sensing unit, each spring beam of setting is respectively: be positioned at pedal bottom plate the first side, riding corresponding to position, metatarsal district
First beam 5 and second beam 6 at interval on bottom edge；It is positioned at pedal bottom plate the second side, corresponding to the foot of position, metatarsal district
Step on the 3rd beam 10 on bottom edge；It is positioned at pedal bottom plate the first side, corresponding to the pedal bottom plate of position, heel medial district
The 4th beam 8 on edge；It is positioned at pedal bottom plate the second side, corresponding to the 5th on the bottom edge of position, outside of heel district
Beam 9；And have: the first sensing element is arranged symmetrically in end face and the bottom surface of the first beam 5, and the second sensing element is arranged symmetrically in second
The end face of beam 6 and bottom surface, the 3rd sensing element is arranged symmetrically in end face and the bottom surface of the 3rd beam 10, the 4th sensing element symmetry cloth
Putting in the end face of the 4th beam 8 and bottom surface, the 5th sensing element is arranged symmetrically in end face and the bottom surface of the 5th beam 9, and detection method is:
First, by step a, correspond to be distributed five stress by dynamometry region one_to_one corresponding on pedal bottom plate 11
Point, loads the power [F] being perpendicular to base plate on stress point, the sensing element on each spring beam obtains strain detecting signal [ε]；
According to loading force on stress point [F], and each strain detecting signal [ε] founding mathematical models is: [C] × [F]=[ε], completes
Demarcation to sensing unit, and obtain the constant matrices [C] of 5 × 5；
Then, utilize formula (1) to calculate by step b and obtain each directed force F1、F2、F3、F4、F5For:
In formula (1), [C]-1It it is the inverse matrix of 5 × 5 constant matricess [C]；
ε1、ε2、ε3、ε4、ε5It is respectively the first sensing element, the second sensing element, the 3rd sensing element, the 4th sensitive unit
The strain signal that part, the 5th sensing element detection obtain.
Claims (3)
1. can survey a pedal type lower limb rehabilitation training robot for plantar nervous arch, it is characterized in that: described foot-operated lower limb
Recovery exercising robot is to be built-in with motor and decelerator in fixed frame (1), motor drive and through crank-driven foot
Stepping on (2) and be positioned at the both sides of fixed frame (1), making to ride (2) a pair can be with the rotation shape of bicycle pedals under motor drives
Formula operates；
The version of described foot-operated (2) is:
One pedal bottom plate (11), a tested foot is positioned over pedal bottom plate (11) and really positions and put, and described determines that position is
Refer on described pedal bottom plate (11), divide each region as follows: ossa suffraginis district, the 3rd to toe bones district, metatarsal district
And heel portion, described metatarsal district comprises first metatarsal district, second metatarsal bone district and three to fifth metatarsal bone district；Described heel portion
It is divided into heel medial district and outside of heel district, order: side, ossa suffraginis place is pedal bottom plate the first side, side, toe bones place
For pedal bottom plate (11) second side；
One treadle supporting (7), described treadle supporting (7) be by pedal bottom plate (11) outer contour shape arrange in upright side
Coaming plate, the base of described gusset plate is connected with each spring beam on diverse location, described with the edge of pedal bottom plate (11)
The side of gusset plate is provided with support shaft, and one end of crank is arranged in the rotating shaft of motor, and the other end is arranged on described support shaft
On, make pedal (2) can rotate with crank with the rotating shaft of motor for center of rotation；Described each spring beam arranges sensing element
Constitute sensing unit；
The plantar pressure detection method arranging described foot-operated lower limb rehabilitation apparatus is:
Step a, in the zones of different of described pedal bottom plate (11) be distributed stress point, on stress point load be perpendicular to base plate
Power [F], is obtained strain detecting signal [ε] by the sensing element on each spring beam；According to loading force on stress point [F], and respectively
Strain detecting signal [ε] founding mathematical models is: [C] × [F]=[ε], completes the demarcation to sensing unit, and obtains constant square
Battle array [C]；
Step b, on pedal bottom plate (11) by dynamometry, detection obtains the strain detecting letter of the sensing element on each spring beam
Number, utilize described mathematical model obtain on pedal bottom plate (11) by the distribution situation of dynamometry.
The pedal type lower limb rehabilitation training robot surveying plantar nervous arch the most according to claim 1, is characterized in that:
Set described by dynamometry as: force position is in the directed force F of first metatarsal head position1, be in second metatarsal bone head position
Directed force F2, be in the directed force F of the three to five metatarsal district center position3, be in the directed force F in heel medial district4, and place
Directed force F in outside of heel district5；
The each spring beam arranged in described sensing unit is set respectively:
Be positioned at pedal bottom plate the first side, corresponding on the pedal bottom plate edge of position, metatarsal district interval the first beam (5) and
Second beam (6)；
It is positioned at pedal bottom plate the second side, corresponding to the 3rd beam (10) on the pedal bottom plate edge of position, metatarsal district；
It is positioned at pedal bottom plate the first side, corresponding to the 4th beam (8) on the pedal bottom plate edge of position, heel medial district；
It is positioned at pedal bottom plate the second side, corresponding to the 5th beam (9) on the bottom edge of position, outside of heel district；
And have: the first sensing element is arranged symmetrically in end face and the bottom surface of the first beam (5), and the second sensing element is arranged symmetrically in
The end face of two beams (6) and bottom surface, the 3rd sensing element is arranged symmetrically in end face and the bottom surface of the 3rd beam (10), the 4th sensing element
Being arranged symmetrically in end face and the bottom surface of the 4th beam (8), the 5th sensing element is arranged symmetrically in end face and the bottom surface of the 5th beam (9).
The pedal type lower limb rehabilitation training robot surveying plantar nervous arch the most according to claim 2, is characterized in that:
The plantar pressure detection method of described foot-operated lower limb rehabilitation apparatus is:
First, by step a, on described pedal bottom plate (11) corresponding to by dynamometry region one_to_one corresponding be distributed five stress
Point, loads the power [F] being perpendicular to base plate on stress point, the sensing element on each spring beam obtains strain detecting signal [ε]；
According to loading force on stress point [F], and each strain detecting signal [ε] founding mathematical models is: [C] × [F]=[ε], completes
Demarcation to sensing unit, and obtain the constant matrices [C] of 5 × 5；
Then, utilize formula (1) to calculate by step b and obtain each directed force F1、F2、F3、F4、F5For:
In formula (1), [C]-1It it is the inverse matrix of 5 × 5 constant matricess [C]；
ε1、ε2、ε3、ε4、ε5Be respectively the first sensing element, the second sensing element, the 3rd sensing element, the 4th sensing element, the
The strain signal that five sensing element detections obtain.
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| CN201610451001.7A CN106038170B (en) | 2016-06-17 | 2016-06-17 | A kind of pedal type lower limb rehabilitation training robot surveying plantar nervous arch |
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| CN201610451001.7A CN106038170B (en) | 2016-06-17 | 2016-06-17 | A kind of pedal type lower limb rehabilitation training robot surveying plantar nervous arch |
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| CN106038170B CN106038170B (en) | 2019-04-23 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN106420264A (en) * | 2016-11-14 | 2017-02-22 | 广东美的安川服务机器人有限公司 | Lower limb training device and rehabilitation training robot with same |
| CN106821389A (en) * | 2017-01-20 | 2017-06-13 | 合肥工业大学 | A kind of gait foot force distribution measurement method |
| CN106821389B (en) * | 2017-01-20 | 2020-04-14 | 合肥工业大学 | Gait sole pressure distribution measuring method |
| CN109410466A (en) * | 2018-12-25 | 2019-03-01 | 云车行网络科技(北京)有限公司 | Driver's self-service examination equipment |
| CN109770906A (en) * | 2019-03-08 | 2019-05-21 | 合肥工业大学 | It is suitable for the long vola power apparatus for measuring distribution of a certain range foot |
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| CN106038170B (en) | 2019-04-23 |
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