CN106038170B - A kind of pedal type lower limb rehabilitation training robot surveying plantar nervous arch - Google Patents
A kind of pedal type lower limb rehabilitation training robot surveying plantar nervous arch Download PDFInfo
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- CN106038170B CN106038170B CN201610451001.7A CN201610451001A CN106038170B CN 106038170 B CN106038170 B CN 106038170B CN 201610451001 A CN201610451001 A CN 201610451001A CN 106038170 B CN106038170 B CN 106038170B
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- 238000012549 training Methods 0.000 title claims abstract description 24
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000013178 mathematical model Methods 0.000 claims abstract description 12
- 210000001872 metatarsal bone Anatomy 0.000 claims description 15
- 210000002683 foot Anatomy 0.000 claims description 12
- 210000001906 first metatarsal bone Anatomy 0.000 claims description 7
- 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 4
- 210000002414 leg Anatomy 0.000 description 9
- 230000001012 protector Effects 0.000 description 6
- 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
- 238000011156 evaluation Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 208000020431 spinal cord injury Diseases 0.000 description 3
- 230000017531 blood circulation Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 201000000585 muscular atrophy Diseases 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect 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
- 210000001699 lower leg Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 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
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
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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
-
- 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
-
- 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 the pedal type lower limb rehabilitation training robots that one kind can survey plantar nervous arch, it it is characterized in that being driven by motor on fixed frame in the right setting of a first from left and riding through crank-driven, operate a pair of ride can under motor driven with the rotation formula of bicycle pedals；It is foot-operated with pedal bottom plate, and connects treadle supporting by spring beam, and sensing element is arranged on each spring beam and constitutes sensing unit；Founding mathematical models demarcate sensing unit, for, by dynamometry, detection obtains sensing element strain detecting signal on each spring beam on pedal bottom plate, are obtained on pedal bottom plate using mathematical model by the distribution situation of dynamometry.The present invention can provide foundation to formulate the training program of pedal type lower limb rehabilitation training robot.
Description
Technical field
The invention belongs to rehabilitation exercise training Instrument technology fields, more particularly to can survey plantar nervous arch it is foot-operated under
Limbs rehabilitation training robot.
Background technique
Product of the rehabilitation machine as robot technology in conjunction with medical science of recovery therapy can help therapist from the health of repeatability
It treats and is freed in work again, allow patient that can stimulate nervous system by training appropriate to gradually restore the fortune of limbs
Dynamic function.Pedal type lower limb rehabilitation training robot is of simple structure and low cost with its, it is each greatly healthy to be securely and reliably widely used in
It answers a pager's call structure, and achieves good rehabilitation efficacy on the patient clinicals such as apoplexy, muscular atrophy, brain injury, spinal cord injury.
Majority recovery training appliance for recovery is concentrated mainly on the validity of treadmill movement, economy etc. at present, due to lacking fortune
Dynamic information feedback, patient are difficult to rationally adjust kinematic parameter, and the scientific and safety for causing patient to carry out rehabilitation training is inadequate
It is high.
Summary of the invention
The present invention is to avoid above-mentioned deficiency of the prior art, and the foot-operated of plantar nervous arch can be surveyed by providing one kind
Formula lower limbs rehabilitation training robot, foot have important biomechanical information, obtain plantar nervous arch for rehabilitation training
The formulation of plan, it is significant for clinical medicine diagnosis, the measurement of illness degree, postoperative curative effect evaluation etc..
The present invention adopts the following technical scheme that in order to solve the technical problem
The present invention can survey being structurally characterized in that for the pedal type lower limb rehabilitation training robot of plantar nervous arch: described foot-operated
Formula lower limbs rehabilitation training robot is that motor and retarder are built-in in fixed frame, is driven by motor and through crank-driven
The foot-operated two sides positioned at fixed frame transport a pair of ride can under motor driven with the rotation formula of bicycle pedals
Turn；
The foot-operated structure type are as follows:
One pedal bottom plate, a tested foot are placed on the determination position of pedal bottom plate, and the determining position refers to
Each region: ossa suffraginis area, third to toe bones area, metatarsal area and heel is divided on the pedal bottom plate as follows
Portion, the metatarsal area include first metatarsal bone area, second metatarsal bone area and third to fifth metatarsal bone area；The heel portion is divided into foot
With medial area and outside of heel area, enable: side where ossa suffraginis is the first side of pedal bottom plate, and side where toe bones is foot-operated bottom
Plate second side；
One treadle supporting, the treadle supporting are to be arranged by the outer contour shape of pedal bottom plate in upright lateral coaming plate,
The bottom edge of the lateral coaming plate is connected with the edge of pedal bottom plate with each spring beam on different location, the one of the lateral coaming plate
Side is provided with support shaft, and one end of crank is mounted in the shaft of motor, and the other end is mounted in the support shaft, enables pedal
It is enough to be rotated using the shaft of motor as center of rotation with crank；Sensing element is set on each spring beam and constitutes sensing unit；
The plantar pressure detection method of the foot-operated lower limb rehabilitation instrument is set are as follows:
Step a, it is distributed stress point in the different zones of the pedal bottom plate, load is perpendicular to bottom plate on stress point
Power [F] obtains strain detecting signal [ε] by the sensing element on each spring beam；According to loading force on stress point [F], and it is each
Strain detecting signal [ε] founding mathematical models are as follows: [C] × [F]=[ε] completes the calibration to sensing unit, and obtain constant square
Battle array [C]；
Step b, for, by dynamometry, detection obtains the strain detecting letter of the sensing element on each spring beam on pedal bottom plate
Number, the distribution situation by dynamometry on pedal bottom plate is obtained using the mathematical model.
The present invention can survey the characteristics of pedal type lower limb rehabilitation training robot of plantar nervous arch and lie also in:
It sets described by dynamometry are as follows: force position is in the directed force F of first metatarsal bone head position1, be in second metatarsal bone head
The directed force F of position2, be in third to five metatarsal district center positions directed force F3, be in the directed force F in heel medial area4,
And it is in the directed force F in outside of heel area5；
Each spring beam being arranged in the sensing unit, which is arranged, is respectively:
The first beam for being spaced on the first side of pedal bottom plate, the pedal bottom plate edge corresponding to metatarsal area position and
Second beam；
Positioned at pedal bottom plate second side, corresponding to the third beam on the pedal bottom plate edge of metatarsal area position；
Positioned at the first side of pedal bottom plate, corresponding to the 4th beam on the pedal bottom plate edge of heel medial area position；
Positioned at pedal bottom plate second side, corresponding to the 5th beam on the bottom edge of outside of heel area position；
And have: the first sensing element is arranged symmetrically in the top and bottom of the first beam, and the second sensing element is arranged symmetrically in
The top and bottom of second beam, third sensing element are arranged symmetrically in the top and bottom of third beam, and the 4th sensing element is symmetrical
The top and bottom of the 4th beam are arranged in, the 5th sensing element is arranged symmetrically in the top and bottom of the 5th beam.
The present invention can survey the characteristics of pedal type lower limb rehabilitation training robot of plantar nervous arch and lie also in: described foot-operated
The plantar pressure detection method of formula lower limb rehabilitation instrument are as follows:
Firstly, corresponding to by step a, on the pedal bottom plate by dynamometry region one-to-one correspondence five stress of distribution
Point, loads the power [F] perpendicular to bottom plate on stress point, obtains strain detecting signal [ε] by the sensing element on each spring beam；
According to loading force on stress point [F] and each strain detecting signal [ε] founding mathematical models are as follows: [C] × [F]=[ε] is completed
Calibration to sensing unit, and obtain 5 × 5 constant matrices [C]；
Then, it is calculated by step b using formula (1) and obtains each directed force F1、F2、F3、F4、F5Are as follows:
In formula (1), [C]-1For the inverse matrix of 5 × 5 constant matrices [C]；
ε1、ε2、ε3、ε4、ε5Respectively the first sensing element, the second sensing element, third sensing element, the 4th sensitive member
Part, the 5th detected strain signal of sensing element.
Compared with the prior art, the invention has the advantages that:
1, the present invention can real-time monitoring training process mesopodium bottom power size and distribution situation, for plantar pressure information
It obtains, the science and safety of rehabilitation training can be improved
2, the present invention can evaluate for lower limb rehabilitation and provide objective basis, for assisting patient to carry out bilateral symmetry training, know
It turns up etc. in not different walking habits；
3, detection method is convenient reliable, cannot be only used for static evaluation, can also be used in dynamic evaluation；
4, the configuration of the present invention is simple, safe and reliable, it is easily operated；
5, the patients such as apoplexy, muscular atrophy, brain injury, spinal cord injury are trained using the present invention, with
Enhance muscle strength, promotes blood circulation, to be gradually recovered extremity motor function.
6, the present invention is suitable for the use of the various different occasions such as hospital and average family.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is foot pedal structure schematic diagram in the present invention；
Fig. 3 is that pedal bottom plate divides area schematic in the present invention；
Figure label: 1 fixed frame, 2 is foot-operated, 3 left leg protector, 4 right leg protector, 5 first beams, 6 second beams, 7 pedal branch
Support, 8 the 4th beams, 9 the 5th beams, 10 third beams, 11 pedal bottom plates.
Specific embodiment
Referring to Fig. 1, the pedal type lower limb rehabilitation training robot that plantar nervous arch can be surveyed in the present embodiment is in fixation
It is built-in with motor and retarder in rack 1, the two sides for being driven by motor and being located at fixed frame 1 through crank-driven foot-operated 2 make
A pair foot-operated 2 can be operated under motor driven with the rotation formula of bicycle pedals；This form is for apoplexy, muscle
The patients such as atrophy, brain injury, spinal cord injury can carry out functional training and be promoted blood circulation with enhancing muscle strength, gradually
Restore extremity motor function；Left leg protector 3 and right leg protector 4 shown in Fig. 1 are for preventing patient because of leg power deficiency, foot
It falls off, damages from riding.User sit on the seat, by left foot right crus of diaphragm be correspondingly placed at the left and right sides it is foot-operated in,
Left leg protector 3 is fixed on left leg, and right leg protector 4 is fixed on right leg, starting motor rotation, and left and right foot can be transported together with foot-operated
It is dynamic, functional training is carried out with this.
Referring to figs. 2 and 3,2 structure type is ridden in the present embodiment are as follows:
One pedal bottom plate 11, a tested foot are placed on the determination position of pedal bottom plate 11, determine that position refers to
Each region: ossa suffraginis area, third to toe bones area, metatarsal area and heel is divided on pedal bottom plate 11 as follows
Portion, the metatarsal area include first metatarsal bone area, second metatarsal bone area and third to fifth metatarsal bone area；The heel portion is divided into foot
With medial area and outside of heel area, enable: side where ossa suffraginis is the first side of pedal bottom plate, and side where toe bones is foot-operated bottom
11 second side of plate.
One treadle supporting 7, treadle supporting 7 are to be arranged by the outer contour shape of pedal bottom plate 11 in upright lateral coaming plate,
The bottom edge of lateral coaming plate is connected with the edge of pedal bottom plate 11 with each spring beam on different location, is arranged in the side of lateral coaming plate
Have support shaft, one end of crank is mounted in the shaft of motor, and the other end is mounted in the support shaft, enable foot-operated 2 with
The shaft of motor is that center of rotation is rotated with crank；Sensing element is set on each spring beam and constitutes sensing unit；
The plantar pressure detection method of foot-operated lower limb rehabilitation instrument is set are as follows:
Step a, it is distributed stress point in the different zones of pedal bottom plate 11, is directed to using software ansys workbench
Stress point loads the power [F] perpendicular to bottom plate, obtains strain detecting signal [ε] by the sensing element on each spring beam, repeatedly adds
It carries and corresponds to and obtain multiple groups strain detecting signal；It is established according to loading force [F] on stress point and each strain detecting signal [ε]
Mathematical model are as follows: [C] × [F]=[ε] completes the calibration to sensing unit, and obtain constant matrices [C]；Wherein, [F] is more
The expression matrix form of secondary loading force, [ε] are the expression matrix form of multiple groups strain detecting signal, and [C] is normal in mathematical model
Several expression matrix form, it may be assumed that constant matrices；Constant matrices [C] is demarcated by software emulation and is obtained, and can also be marked by experiment
It is fixed to obtain.
Step b, for, by dynamometry, detection obtains the strain detecting of the sensing element on each spring beam on pedal bottom plate 11
Signal obtains the distribution situation by dynamometry on pedal bottom plate 11 using mathematical model.
In specific implementation, in foot-operated 2 the quantity of spring beam and position be by the distribution situation of the vola power of setting detection and
It is fixed.
In the present embodiment, in order to obtain patient carry out rehabilitation training in its foot first metatarsal bone area, second metatarsal bone area,
Third is set by dynamometry are as follows: at force position to five region distribution of force of fifth metatarsal bone area, heel medial area and outside area
Directed force F in first metatarsal bone head position1, be in the directed force F of second metatarsal bone head position2, be in third to five metatarsal district centers
The directed force F of position3, be in the directed force F in heel medial area4, and it is in the directed force F in outside of heel area5；It is correspondingly arranged
Each spring beam being arranged in sensing unit is respectively: being located at the first side of pedal bottom plate, corresponding to the foot-operated of metatarsal area position
The first beam 5 and the second beam 6 being spaced on bottom edge；Foot positioned at pedal bottom plate second side, corresponding to metatarsal area position
Step on the third beam 10 on bottom edge；Pedal bottom plate positioned at the first side of pedal bottom plate, corresponding to heel medial area position
The 4th beam 8 on edge；Positioned at pedal bottom plate second side, corresponding to the 5th on the bottom edge of outside of heel area position
Beam 9；And have: the first sensing element is arranged symmetrically in the top and bottom of the first beam 5, and the second sensing element is arranged symmetrically in second
The top and bottom of beam 6, third sensing element are arranged symmetrically in the top and bottom of third beam 10, the 4th symmetrical cloth of sensing element
It sets in the top and bottom of the 4th beam 8, the 5th sensing element is arranged symmetrically in the top and bottom of the 5th beam 9, detection method are as follows:
Firstly, corresponding to by step a, on pedal bottom plate 11 by dynamometry region one-to-one correspondence five stress of distribution
Point, loads the power [F] perpendicular to bottom plate on stress point, obtains strain detecting signal [ε] by the sensing element on each spring beam；
According to loading force on stress point [F] and each strain detecting signal [ε] founding mathematical models are as follows: [C] × [F]=[ε] is completed
Calibration to sensing unit, and obtain 5 × 5 constant matrices [C]；
Then, it is calculated by step b using formula (1) and obtains each directed force F1、F2、F3、F4、F5Are as follows:
In formula (1), [C]-1For the inverse matrix of 5 × 5 constant matrices [C]；
ε1、ε2、ε3、ε4、ε5Respectively the first sensing element, the second sensing element, third sensing element, the 4th sensitive member
Part, the 5th detected strain signal of sensing element.
Claims (1)
1. one kind can survey the pedal type lower limb rehabilitation training robot of plantar nervous arch, it is characterized in that: the foot-operated lower limb
Recovery exercising robot is to be built-in with motor and retarder in fixed frame (1), is driven by motor and through crank-driven foot
The two sides that (2) are located at fixed frame (1) are stepped on, make a pair of foot-operated (2) can be under motor driven with the rotation shape of bicycle pedals
Formula is operated；
The structure type of foot-operated (2) are as follows:
One pedal bottom plate (11), a tested foot are placed on the determination position of pedal bottom plate (11), and the determining position is
Finger divides each region: ossa suffraginis area, third to toe bones area, metatarsal area as follows on the pedal bottom plate (11)
And heel portion, the metatarsal area include first metatarsal bone area, second metatarsal bone area and third to fifth metatarsal bone area；The heel portion
Be divided into heel medial area and outside of heel area, enable: side where ossa suffraginis is the first side of pedal bottom plate, side where toe bones
For pedal bottom plate (11) second side；
One treadle supporting (7), the treadle supporting (7) are arranged by the outer contour shape of pedal bottom plate (11) in upright side
The bottom edge of coaming plate, the lateral coaming plate is connected with the edge of pedal bottom plate (11) with each spring beam on different location, described
The side of lateral coaming plate is provided with support shaft, and one end of crank is mounted in the shaft of motor, and the other end is mounted on the support shaft
On, making to ride (2) can be rotated with the shaft center of rotation of motor with crank；Sensing element is set on each spring beam
Constitute sensing unit；
The plantar pressure detection method of the foot-operated lower limb rehabilitation instrument is set are as follows:
Step a, it is distributed stress point in the different zones of the pedal bottom plate (11), load is perpendicular to bottom plate on stress point
Power [F] obtains strain detecting signal [ε] by the sensing element on each spring beam；According to loading force on stress point [F], and it is each
Strain detecting signal [ε] founding mathematical models are as follows: [C] × [F]=[ε] completes the calibration to sensing unit, and obtain constant square
Battle array [C]；
Step b, for by dynamometry, detection obtains the strain detecting letter of the sensing element on each spring beam on pedal bottom plate (11)
Number, the distribution situation by dynamometry on pedal bottom plate (11) is obtained using the mathematical model；
It sets described by dynamometry are as follows: force position is in the directed force F of first metatarsal bone head position1, be in second metatarsal bone head position
Directed force F2, be in third to five metatarsal district center positions directed force F3, be in the directed force F in heel medial area4, and place
Directed force F in outside of heel area5；
Each spring beam being arranged in the sensing unit, which is arranged, is respectively:
The first beam (5) for being spaced on the first side of pedal bottom plate, the pedal bottom plate edge corresponding to metatarsal area position and
Second beam (6)；
Positioned at pedal bottom plate second side, corresponding to the third beam (10) on the pedal bottom plate edge of metatarsal area position；
Positioned at the first side of pedal bottom plate, corresponding to the 4th beam (8) on the pedal bottom plate edge of heel medial area position；
Positioned at pedal bottom plate second side, corresponding to the 5th beam (9) on the bottom edge of outside of heel area position；
And have: the first sensing element is arranged symmetrically in the top and bottom of the first beam (5), and the second sensing element is arranged symmetrically in
The top and bottom of two beams (6), third sensing element are arranged symmetrically in the top and bottom of third beam (10), the 4th sensing element
The top and bottom of the 4th beam (8) are arranged symmetrically in, the 5th sensing element is arranged symmetrically in the top and bottom of the 5th beam (9)；
The plantar pressure detection method of the foot-operated lower limb rehabilitation instrument are as follows:
Firstly, corresponding to by step a, on the pedal bottom plate (11) by dynamometry region one-to-one correspondence five stress of distribution
Point, loads the power [F] perpendicular to bottom plate on stress point, obtains strain detecting signal [ε] by the sensing element on each spring beam；
According to loading force on stress point [F] and each strain detecting signal [ε] founding mathematical models are as follows: [C] × [F]=[ε] is completed
Calibration to sensing unit, and obtain 5 × 5 constant matrices [C]；
Then, it is calculated by step b using formula (1) and obtains each directed force F1、F2、F3、F4、F5Are as follows:
In formula (1), [C]-1For the inverse matrix of 5 × 5 constant matrices [C]；
ε1、ε2、ε3、ε4、ε5Respectively the first sensing element, the second sensing element, third sensing element, the 4th sensing element,
The detected strain signal of five sensing elements.
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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 true CN106038170B (en) | 2019-04-23 |
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| CN106420264B (en) * | 2016-11-14 | 2018-09-11 | 广东美的安川服务机器人有限公司 | Leg training device and recovery exercising robot with it |
| CN106821389B (en) * | 2017-01-20 | 2020-04-14 | 合肥工业大学 | Gait sole pressure distribution measuring method |
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