CN106595912A - Real-time detection evaluation system for human foot dynamic mechanics and method - Google Patents
Real-time detection evaluation system for human foot dynamic mechanics and method Download PDFInfo
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
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Abstract
The invention relates to a real-time detection evaluation system for human foot dynamic mechanics and a method. A first sensing device of the system is used for detecting a vertical force, a shear force and a torque of a foot sole and generating first detection data; a second sensing device is used for detecting an average pressure value and a peak pressure value of the foot sole and a contact area between the foot sole and the ground and generating second detection data; a motion sensing trace component is used for detecting a real-time contact angle between the foot and the ground, an accelerated speed and a linear acceleration and generating third detection data; a data processing transmission module is used for respectively packaging and processing the first detection data, the second detection data and the third detection data into a data packet; an upper computer is used for unpacking, integrating and converting the data packet, calibrating and calculating the coefficient, extracting, analyzing and displaying the data, modeling the data feature, evaluating the relation between real-time progressing and data and acquiring human foot dynamic mechanic characteristics. The real-time detection evaluation system for human foot dynamic mechanics has the advantages of wide application scope, capability of detecting tread time-space domain parameters, accurate detection data and accurate evaluation.
Description
Technical field
The present invention relates to body detection technique field, more particularly to a kind of people's foot dynamic mechanical real-time detection assessment system and
Method.
Background technology
At present the force analysis instrument for people's foot in motor process mainly adopts shoe-pad pressure distribution or rectangle pressure
Power is distributed detection plate, and the ultimate principle of this two kinds of equipment adopts pressure distribution sensor, for gathering connecing for foot and ground
Contacting surface pressure, and then vertical force and other derivative parameters in ground reaction force are calculated, the shortcoming of this two kinds of equipment is：
1. shoe-pad pressure distribution is that, with shoes as carrier, pressure distribution often occurs in Jing and shoes cannot when actually detected
Most preferably it is adapted to and is affected the accuracy of testing result；
2. the space field parameter of gait when shoe-pad pressure distribution cannot detect walking；
3. rectangular pressure distribution grid is limited greatly by space, it is impossible to is accomplished detection over long distances, thus is affected data accuracy；
4. vertical force can only be detected both, it is impossible to obtain the three-dimensional such as direction shearing force and torque around of foot
Spatial data；
5. angle-data when foot is contacted with ground cannot be obtained both；
6. because of the limitation of above-mentioned detection method, therefore effective people's foot dynamic mechanical information evaluation method cannot be formed；
7th, cannot obtain the spatial domain data in gait cycle, measuring cell and people foot measurement position cannot form optimal suitable
With relation, long range detection can not be carried out, people's foot dynamic mechanical (both macro and micro) multi-source information (ground retroaction cannot be obtained
The information such as power, torque, gait cycle data, pressure, area, angle, angular acceleration, linear acceleration) the shortcomings of and problem.
The content of the invention
The technical problem to be solved be to provide a kind of space field parameter applied widely, that gait can be detected,
Detection data is accurate, assess accurately people's foot dynamic mechanical real-time detection assessment system and method.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of people's foot dynamic mechanical real-time detection assessment system
System, including shoe body, data processing transport module and host computer, the bottom of the shoe body is provided with the first sensing device and second and passes
Induction device, the top of the shoe body is provided with motion sensing and follows the trail of component；
First sensing device, for detect the vertical force in vola, fore-and-aft direction shearing force, left and right directions shearing force,
Fore-and-aft direction torque and left and right directions torque, generate the first detection data；
Second sensing device, for detecting pressure average, pressure spikes and the foot and contact area of ground in vola,
Generate the second detection data；
The motion sensing follows the trail of component, for detecting that angle, angular acceleration and the line of vola and ground real-time contact add
Speed, generates the 3rd detection data；
The data processing transport module, for real-time synchronization to the first detection data, the second detection data and the 3rd inspection
Surveying data carries out difference encapsulation process into packet, and the packet after encapsulation is wirelessly transmitted to into host computer；
The host computer, for being unpacked to packet, being integrated, changed, coefficient calibration calculate, then data are carried
Take analysis and show, according to the data of extraction and analysis data characteristicses modeling is carried out, and data are carried out real-time progressive and data it
Between incidence relation be estimated, draw people foot Dynamic mechanical property；
People's foot Dynamic mechanical property includes three dimensions vertical force of both feet when contacting with ground in the process of walking, in front and back
Direction shearing force, left and right directions shearing force, fore-and-aft direction torque, left and right directions torque, the pressure average of contact surface, contact surface
Pressure spikes, contact area, and contact angle, angular acceleration, the linear acceleration on vola and ground；
People's foot dynamic mechanical distribution also includes gait cycle time parameter and gait cycle spatial parameter；The gait cycle time
Parameter is：Standing phase, swing phase, single support phase, dual-gripper phase and its sequential relationship with the time；Gait cycle spatial parameter
For：Step-length, step width, step pitch, leg speed and its sequential relationship with the time.
The invention has the beneficial effects as follows：First sensing device, the second sensing device and motion sensing follow the trail of component to people's foot
The multi-source information of mechanics carries out real-time detection, can obtain the spatial domain data of gait, makes one the information data of sufficient kinestate more
Plus diversification, three-dimensional, the first sensing device and the second sensing device are placed in the position of sole and form adaptation and to greatest extent
The accuracy of testing result is improved, applied widely, detection data is accurately and assessment is accurate, by the coordinate operation of host computer,
Can effectively realize that the calibration of detection data, modeling analysis draw people's foot Dynamic mechanical property.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, first sensing device includes that the one or five axle macromechanics sensor, the two or five axle macromechanics are passed
Sensor, the three or five axle macromechanics sensor and the four or five axle macromechanics sensor, the one or the five axle macromechanics sensing
Device is placed at the shoe body correspondence Human Sole first metatarsal position, and the two or the five axle macromechanics sensor is placed in the footwear
At body correspondence Human Sole fifth metatarsal bone position, the three or the five axle macromechanics sensor is placed in the shoe body correspondence human body
In foot at position, the four or the five axle macromechanics sensor is placed at the heel position of the shoe body correspondence human body, and people is expert at
Walk or standing process in heel and first, fifth metatarsal bone position in stable mechanics triangle, be the concentrated area of stress, and foot
With with two metatarsal in gait cycle in ground reaction force peak, foot in position be in gait cycle stand in
The minimum position of phase ground reaction force peak value, the one or the five axle macromechanics sensor, the two or five axle macromechanics sensing
Device, the three or five axle macromechanics sensor and the four or five axle macromechanics sensor are used to measure the vertical of its corresponding position
Power and shearing force.
It is using the beneficial effect of above-mentioned further scheme：It is grand by the one or five axle macromechanics sensor, the two or five axle
See mechanics sensor, the three or five axle macromechanics sensor and the four or five axle macromechanics sensor detection vola vertical force,
The data of fore-and-aft direction shearing force, left and right directions shearing force, fore-and-aft direction torque and left and right directions torque, make one sufficient kinestate
Information data more diversification, lifted Data Detection accuracy, ensure assessment accuracy.
Further, second sensing device include the first film formula round pressure distribution mechanics information sensor, second
Diaphragm type round pressure distribution mechanics information sensor, the 3rd diaphragm type round pressure distribution mechanics information sensor and the 4th are thin
Membrane type round pressure is distributed mechanics information sensor, the first film formula round pressure distribution mechanics information sensor, the second thin film
Formula round pressure distribution mechanics information sensor, the 3rd diaphragm type round pressure distribution mechanics information sensor and the 4th diaphragm type
Round pressure distribution mechanics information sensor is corresponding in turn to and is placed in the one or the five axle macromechanics sensor, the two or five axle macroscopic view
At the position of mechanics sensor, the three or five axle macromechanics sensor and the four or five axle macromechanics sensor, people walking or
Heel and first, fifth metatarsal bone position are in stable mechanics triangle in standing process, are the concentrated areas of stress, and heel and
Two metatarsal position in the peak of ground reaction force, foot in gait cycle is midstance ground in gait cycle
The minimum position of face counteracting force peak value, the first film formula round pressure distribution mechanics information sensor, the second diaphragm type
Round pressure distribution mechanics information sensor, the 3rd diaphragm type round pressure distribution mechanics information sensor and the 4th diaphragm type circle
Shape pressure distribution mechanical information sensor is used to measure the pressure of its corresponding position.
It is using the beneficial effect of above-mentioned further scheme：Mechanics information sensing is distributed by the first film formula round pressure
Device, the second diaphragm type round pressure distribution mechanics information sensor, the 3rd diaphragm type round pressure distribution mechanics information sensor
Data Detection is carried out with the 4th diaphragm type round pressure distribution mechanics information sensor, and then obtains the pressure average in vola, pressure
Strong peak value and vola and the data of contact area of ground, make the information data more diversification of vola kinestate, lift data
The accuracy of detection, ensures the accuracy of assessment.
The first film formula round pressure distribution mechanics information sensor, the second diaphragm type round pressure distribution mechanics letter
Breath sensor, the 3rd diaphragm type round pressure distribution mechanics information sensor and the 4th diaphragm type round pressure distribution mechanical information
Sensor measures the pressure of its corresponding position using pressure resistance type array pressure transducer principle, generates the second detection data,
The host computer shows in real time pressure footmark according to the second detection data.
It is using the beneficial effect of above-mentioned further scheme：It is easy to by the more obvious decompression force of pressure footmark.
Further, the motion sensing follows the trail of component includes three-axis gyroscope, three axis accelerometer and three-axle magnetic field meter, institute
State three-axis gyroscope, triaxial accelerometer and three-axle magnetic field meter to be placed at the corresponding instep in the top of the shoe body, described three
Axle gyroscope is used to measure the angular velocity that people moves enough, and the triaxial accelerometer is used to measure the acceleration of people's foot motion, described
Three-axle magnetic field meter is used for measurement and control to people's foot direction of motion.
It is using the beneficial effect of above-mentioned further scheme：By three-axis gyroscope, three axis accelerometer and three-axle magnetic field
Meter carries out Data Detection, obtains angle, angular acceleration and the linear acceleration of people's foot and ground real-time contact, makes one sufficient kinestate
Information data more diversification, three-dimensional, lifted assessment accuracy.
Further, the host computer includes that communication interface unit, information process unit, data acquisition unit, calibration are calculated
Unit, data access unit and Database Unit, the communication interface unit is used to access packet；Described information processing unit
For unpacking to packet, and the data after unpacking are integrated and changed；The data acquisition unit is used for whole
Data after closing and changing are acquired；The calibration computing is used for the data to gathering and enters row coefficient calibration；The number
It is used to that the data after coefficient calibration are carried out to be stored in Database Unit or taking-up according to access unit, the Database Unit is used to deposit
Data after storage coefficient calibration；The host computer also includes data extraction and analysis unit and display unit, and the data are extracted and divided
Analysis unit is used to carry out extraction and analysis to the data in Database Unit；The display unit is used for the data after extraction and analysis
Shown；The host computer also includes data modeling assessment unit, and the data modeling assessment unit is used for extraction and analysis
Data afterwards carry out data characteristicses modeling, and data are carried out with the real-time progressive incidence relation and data between are estimated, and obtain
Go out people's foot Dynamic mechanical property.
It is using the beneficial effect of above-mentioned further scheme：Communication interface unit, information process unit, data acquisition list
Data can be calibrated and stored by the coordinate operation of unit, calibration computing, data access unit and Database Unit, be carried
Rise the accuracy of data；Data extraction and analysis unit and display unit carry out extraction and show to data, are easy to the real-time sight of data
Survey；It is estimated by modeling, lifts the accuracy of assessment, is convenient for later stage decision-making.
Another technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of people's foot dynamic mechanical real-time detection assessment
Method, by the first sensing device to human body in the process of walking vola contacts with ground when vertical force, fore-and-aft direction shearing
Power, left and right directions shearing force, fore-and-aft direction torque and left and right directions torque detected, generates the first detection data；By
Two sensing devices to human body in the process of walking vola contacts with ground when pressure average, pressure spikes and contact area carry out
Detection, generates the second detection data；By motion sensing follow the trail of component to human body in the process of walking vola contacts with ground when
Contact angle, angular acceleration, linear acceleration and gait cycle detected, generate the 3rd detection data, gait cycle data
Including the data of standing phase, swing phase, single support phase, dual-gripper phase, step-length, step width, step pitch and leg speed；Mould is transmitted in data processing
Block carries out difference encapsulation process to the first detection data, the second detection data and the 3rd detection data into packet, after encapsulation
Packet；Host computer is unpacked to packet, integrated, being changed, coefficient calibration calculate, then by data carry out extraction and analysis and
Show, according to the data of extraction and analysis data characteristicses modeling is carried out, and data are carried out progressive related to incidence relation in real time
Property is estimated；Draw people's foot Dynamic mechanical property；
People's foot Dynamic mechanical property includes three dimensions vertical force of both feet when contacting with ground in the process of walking, in front and back
Direction shearing force, left and right directions shearing force, fore-and-aft direction torque, left and right directions torque, the pressure average of contact surface, contact surface
Pressure spikes, contact area, and contact angle, angular acceleration, the linear acceleration on vola and ground；
People's foot Dynamic mechanical property also includes gait cycle time parameter and gait cycle spatial parameter；The gait cycle time
Parameter is：Standing phase, swing phase, single support phase, dual-gripper phase and its sequential relationship with the time；Gait cycle spatial parameter
For：Step-length, step width, step pitch, leg speed and its sequential relationship with the time.
The invention has the beneficial effects as follows：First sensing device, the second sensing device and motion sensing follow the trail of component to people's foot
The multi-source information of mechanics carries out real-time detection, can obtain the spatial domain data of gait, makes one the information data of sufficient kinestate more
Plus diversification, three-dimensional, the first sensing device and the second sensing device are placed in the position of sole and form adaptation and to greatest extent
The accuracy of testing result is improved, applied widely, detection data is accurately and assessment is accurate, by the coordinate operation of host computer,
Can effectively realize that the calibration of detection data, modeling analysis show that foot dynamic mechanical is distributed.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the communication interface unit of the host computer accesses the packet of data processing transport module；Information processing
Unit is unpacked to packet, and the data after unpacking are integrated and changed, and information process unit is to motion sensing group
Linear acceleration that part is directly measured carries out integral and calculating twice with the time, then carries out fast fourier transform and obtain noise letter in real time
Number frequency separation, the nonlinear data fitting finally by signal will filter accumulating twice for linear acceleration data and time after making an uproar
Divide and calculate obtained offset data, by the spatial domain data of offset data material calculation, step width and step pitch；Data acquisition list
Unit is acquired to the data after integration and conversion.
Further, the calibration computing enters row coefficient school to the raw voltage data data that data acquisition unit is gathered
It is accurate；Data access unit carries out being stored in Database Unit to the data after coefficient calibration, after the calibration of Database Unit packing coefficient
Data；Data extraction and analysis unit carries out extraction and analysis to the data in Database Unit；After display unit is to extraction and analysis
Data shown；Data modeling assessment unit carries out data characteristicses modeling to the data after extraction and analysis, and data are entered
Row is progressive in real time and incidence relation dependency is estimated.
It is using the beneficial effect of above-mentioned further scheme：Communication interface unit, information process unit, data acquisition list
Data can be calibrated and stored by the coordinate operation of unit, calibration computing, data access unit and Database Unit, be carried
Rise the accuracy of data；Data extraction and analysis unit and display unit carry out extraction and show to data, are easy to the real-time sight of data
Survey；It is estimated by modeling, lifts the accuracy of assessment, is convenient for later stage decision-making.
Description of the drawings
Fig. 1 is a kind of module frame chart of people's foot dynamic mechanical real-time detection assessment system of the invention；
Fig. 2 is the structural representation that the first sensing device, the second sensing device and motion sensing follow the trail of component；
Fig. 3 is the upward view of Fig. 2；
Fig. 4 is the module frame chart of the first sensing device；
Fig. 5 is the module frame chart of the second sensing device；
Fig. 6 is the module frame chart that motion sensing follows the trail of component；
Fig. 7 is the module frame chart of host computer.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, shoe body, 2, data processing transport module,
3rd, host computer, 301, communication interface unit, 302, information process unit, 303, data acquisition unit, 304, calibration
Computing unit, 305, data access unit, 306, Database Unit, 307, data extraction and analysis unit, 308, display unit,
309th, data modeling assessment unit；
4th, the first sensing device, the 401, the 1st axle macromechanics sensor, the 402, the 2nd 5 axle macromechanics sensor,
403rd, the three or five axle macromechanics sensor, the 404, the 4th 5 axle macromechanics sensor；
5th, the second sensing device, 501, the first film formula round pressure distribution mechanics information sensor, the 502, second thin film
Formula round pressure is distributed mechanics information sensor, the 503, the 3rd diaphragm type round pressure distribution mechanics information sensor, and 504, the
Four diaphragm type round pressures are distributed mechanics information sensor；
6th, motion sensing follows the trail of component, and 601, three-axis gyroscope, 602, three axis accelerometer, 603, three-axle magnetic field meter.
Specific embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
As shown in Figure 1 to Figure 3, a kind of people's foot dynamic mechanical real-time detection assessment system, including shoe body 1, data processing is passed
Defeated module 2 and host computer 3, the bottom of the shoe body 1 is provided with the first sensing device 4 and the second sensing device 5, the shoe body 1
Top be provided with motion sensing follow the trail of component 6；
First sensing device 4, for detect the vertical force in vola, fore-and-aft direction shearing force, left and right directions shearing force,
Fore-and-aft direction torque and left and right directions torque, generate the first detection data；
Second sensing device 5, for detecting pressure average, pressure spikes and vola and the ground contact surface in vola
Product, generates the second detection data；
The motion sensing follows the trail of component 6, for detecting that angle, angular acceleration and the line of vola and ground real-time contact add
Speed, generates the 3rd detection data；
The data processing transport module 2, for real-time synchronization to the first detection data, the second detection data and the 3rd inspection
Surveying data carries out difference encapsulation process into packet, and the packet after encapsulation is wirelessly transmitted to into host computer 3；
The host computer 3, for being unpacked to packet, being integrated, changed, coefficient calibration calculate, then data are carried out
Extraction and analysis and display, according to the data of extraction and analysis data characteristicses modeling is carried out, and data are carried out with real-time progressive and data
Between incidence relation be estimated, draw people foot Dynamic mechanical property；
People's foot dynamic mechanical distribution includes double-legged three dimensions vertical force when contacting with ground in the process of walking, in front and back
Direction shearing force, left and right directions shearing force, fore-and-aft direction torque, left and right directions torque, the pressure average of contact surface, contact surface
Pressure spikes, contact area, and contact angle, angular acceleration, the linear acceleration on vola and ground；
People's foot dynamic mechanical distribution also includes gait cycle time parameter and gait cycle spatial parameter；The gait cycle time
Parameter is：Standing phase, swing phase, single support phase, dual-gripper phase and its sequential relationship with the time；Gait cycle spatial parameter
For：Step-length, step width, step pitch, leg speed and its sequential relationship with the time.
In one embodiment, referring to Fig. 4, first sensing device 4 includes the one or five axle macromechanics sensor
401st, the two or five axle macromechanics sensor 402, the three or five axle macromechanics sensor 403 and the four or five axle macromechanics sensing
Device 404, the one or the five axle macromechanics sensor 401 is placed at the corresponding Human Sole first metatarsal position of the shoe body 1, institute
State the two or five axle macromechanics sensor 402 to be placed at the corresponding Human Sole fifth metatarsal bone position of the shoe body 1, the described 3rd 5
Axle macromechanics sensor 403 is placed in the foot of the correspondence human body of the shoe body 1 at position, the four or the five axle macromechanics sensing
Device 404 is placed at the heel position of the correspondence human body of the shoe body 1, people heel and the first, the 5th plantar in walking or standing process
The position of bone is put in stable mechanics triangle, is the concentrated area of stress, and heel and two metatarsal are in ground in gait cycle
The peak of face counteracting force, position is the minimum position of midstance ground reaction force peak value in gait cycle in foot,
One or the five axle macromechanics sensor 401, the two or five axle macromechanics sensor 402, the three or five axle macromechanics sensing
The axle macromechanics sensor 404 of device 403 and the 4th 5 is used to measure the vertical force and shearing force of its corresponding position.
In one embodiment, referring to Fig. 5, second sensing device 5 includes the first film formula round pressure distributed force
Learn information sensor 501, the second diaphragm type round pressure distribution mechanics information sensor 502, the 3rd diaphragm type round pressure point
Cloth mechanical information sensor 503 and the 4th diaphragm type round pressure distribution mechanics information sensor 504, the circular pressure of the first film formula
Power distribution mechanics information sensor 501, the second diaphragm type round pressure distribution mechanics information sensor 502, the 3rd diaphragm type circle
Shape pressure distribution mechanical information sensor 503 and the 4th diaphragm type round pressure distribution mechanics information sensor 504 are corresponding in turn to
It is placed in the one or the five axle macromechanics sensor 401, the two or five axle macromechanics sensor 402, the three or five axle macromechanics
At the position of the axle macromechanics sensor 404 of sensor 403 and the 4th 5, people in walking or standing process heel and first,
Fifth metatarsal bone position is in stable mechanics triangle, is the concentrated area of stress, and heel and two metatarsal are in gait cycle
Position is that midstance ground reaction force peak value is minimum in gait cycle in the peak of ground reaction force, foot
Position, the first film formula round pressure distribution mechanics information sensor 501, the second diaphragm type round pressure distribution mechanics letter
Breath sensor 502, the 3rd diaphragm type round pressure distribution mechanics information sensor 503 and the 4th diaphragm type round pressure distributed force
Learn information sensor 504 to be used to measure the pressure of its corresponding position.
In one embodiment, the first film formula round pressure distribution mechanics information sensor 501, the second diaphragm type
Round pressure distribution mechanics information sensor 502, the 3rd diaphragm type round pressure distribution mechanics information sensor 503 and the 4th are thin
Membrane type round pressure distribution mechanics information sensor 504 measures its correspondence position using pressure resistance type array pressure transducer principle
The pressure at place, generates the second detection data, and the host computer 3 shows in real time pressure footmark, and pressure according to the second detection data
Footmark is bigger with pressure, and color is deeper.
In one embodiment, referring to Fig. 6, the motion sensing follows the trail of component 6 includes that three-axis gyroscope 601, three axles add
Velometer 602 and three-axle magnetic field meter 603, the three-axis gyroscope 601, triaxial accelerometer 602 and three-axle magnetic field meter 603 are placed in
At the top correspondence instep of the shoe body 1, the three-axis gyroscope 601 is used to measure the angular velocity that people moves enough, described
Triaxial accelerometer 602 is used to measure the acceleration of foot movement, and the three-axle magnetic field meter 603 is used for the survey to foot movement direction
Amount and control.
In one embodiment, referring to Fig. 7, the host computer 3 includes communication interface unit 301, information process unit
302nd, data acquisition unit 303, calibration computing 304, data access unit 305 and Database Unit 306, the communication connects
Mouth unit 301 is used to access packet；Described information processing unit 302 be used for packet is unpacked, and to unpacking after
Data are integrated and changed；The data acquisition unit 303 is used to be acquired the data after integration and conversion；The school
Quasi- computing unit 304 is used for the data to gathering and enters row coefficient calibration；The data access unit 305 is used for after coefficient calibration
Data carry out being stored in Database Unit 306 or take out, the data that the Database Unit 306 is used for after packing coefficient calibration；
The host computer 3 also includes data extraction and analysis unit 307 and display unit 308, and the data extraction and analysis unit 307 is used for
Extraction and analysis are carried out to the data in Database Unit 306；The display unit 308 is used to carry out the data after extraction and analysis
Show；The host computer 3 also includes data modeling assessment unit 309, and the data modeling assessment unit 309 is used to divide extracting
Data after analysis carry out data characteristicses modeling, and data are carried out with the real-time progressive incidence relation and data between are estimated,
Show that foot dynamic mechanical is distributed.
A kind of people foot dynamic mechanical real-time detection appraisal procedure, by the first sensing device 4 to human body in the process of walking
Vertical force, fore-and-aft direction shearing force, left and right directions shearing force, fore-and-aft direction torque and left and right directions when vola contacts with ground
Torque detected, generates the first detection data；By the second sensing device 5, to human body, in the process of walking vola connects with ground
Pressure average, pressure spikes and contact area when tactile detected, generates the second detection data；Group is followed the trail of by motion sensing
Part 6 to human body in the process of walking vola contacts with ground when contact angle, angular acceleration, linear acceleration and gait cycle enter
Row detection, generates the 3rd detection data, gait cycle data include standing phase, swing phase, single support phase, dual-gripper phase, step-length,
The data of step width, step pitch and leg speed；2 pairs of the first detection datas of data processing transport module, the second detection data and the 3rd detection
Data carry out difference encapsulation process into packet, by the packet after encapsulation；Host computer 3 is unpacked to packet, integrated, being turned
Change, coefficient calibration calculates, then data are carried out into extraction and analysis and display, carry out data characteristicses according to the data of extraction and analysis and build
Mould, and data are carried out with real-time progressive and incidence relation dependency be estimated, draw people's foot Dynamic mechanical property；
People's foot Dynamic mechanical property includes three dimensions vertical force of both feet when contacting with ground in the process of walking, in front and back
Direction shearing force, left and right directions shearing force, fore-and-aft direction torque, left and right directions torque, the pressure average of contact surface, contact surface
Pressure spikes, contact area, and contact angle, angular acceleration, the linear acceleration on vola and ground；
People's foot Dynamic mechanical property also includes gait cycle time parameter and gait cycle spatial parameter；The gait cycle time
Parameter is：Standing phase, swing phase, single support phase, dual-gripper phase and its sequential relationship with the time；Gait cycle spatial parameter
For：Step-length, step width, step pitch, leg speed and its sequential relationship with the time.
Preferably, the communication interface unit 301 of the host computer 3 accesses the packet of data processing transport module 2；Information
Processing unit 302 is unpacked to packet, and the data after unpacking are integrated and changed, information process unit 302 pairs
Linear acceleration that Motion sensing component is directly measured and time carry out integral and calculating twice, then to carry out fast fourier transform real-time
Obtain noise signal frequency separation, finally by signal nonlinear data fitting will filter make an uproar after linear acceleration data and when
Between the offset data that obtained of integral and calculating twice, by the spatial domain data of offset data material calculation, step width and step pitch；
Data after data acquisition unit 303 pairs is integrated and changed are acquired.
Preferably, the calibration computing 304 is carried out to the raw voltage data data that data acquisition unit 303 is gathered
Coefficient is calibrated；Data access unit 305 carries out being stored in Database Unit 306, Database Unit 306 to the data after coefficient calibration
Data after packing coefficient calibration；Data extraction and analysis unit 307 carries out extraction and analysis to the data in Database Unit 306；
Display unit 308 shows to the data after extraction and analysis；Data modeling assessment unit 309 is entered to the data after extraction and analysis
Row data feature modeling, and data are carried out with real-time progressive and incidence relation dependency be estimated.
Embodiment 2：
Diaphragm type round pressure distribution Micromechanics information sensor adopts pressure resistance type array pressure transducer principle, therefore can
Obtained in real time according to force acting on transducer size and press contacting surface pressure coloured image.
Five axles in five axle macromechanics sensors of miniature five axles macroscopic view are three direction force：Vertical force (Fz), front and back
To shearing force (Fx), left and right directions shearing force (Fy), both direction torque：Mx、My；
Motion sensing follows the trail of component and is used for angle to foot and ground real-time contact, angular acceleration, linear acceleration and chases after
Track is measured, and using the MPU-9150 attitudes of InvenSense companies component is followed the trail of, and WIFI communication mode, 2 motion sensings are followed the trail of
Component is separately fixed on the vamp of rubber-soled sports shoes with holes of instep.
Motion sensing tracer technique is fitted compensation and refers to by motion sensing to the spatial domain data of gait during walking
The linear acceleration that component is directly measured carries out integral and calculating twice with the time, then carries out FFT (fast fourier transform) technology reality
When obtain noise signal frequency separation, finally by signal nonlinear data fitting will filter make an uproar after linear acceleration data with
The offset data that the integral and calculating twice of time is obtained, by the spatial domain number such as data material calculation, step width, the step pitch.
The every trade of going forward side by side of the sport shoess equipped with people's foot dynamic mechanical multi-source real-time detection apparatus for evaluating is put on when study subject to walk
When, five axle macromechanics sensors of miniature five axles macroscopic view, diaphragm type round pressure distribution Micromechanics information sensor and motion
Sensing follow the trail of component start to detect vola detect when contacting with ground vertical force, fore-and-aft direction shearing force, left and right directions shearing force,
Contact angle, the angle on fore-and-aft direction torque, left and right directions torque, pressure average, pressure spikes, contact area, vola and ground
Acceleration, linear acceleration, gait cycle data, time parameter：Standing phase, swing phase, single support phase, dual-gripper phase；Join in space
Number:Step-length, step width, step pitch, leg speed and its sequential relationship with the time, by the data signal for detecting by WIFI modes with it is upper
Position machine operation terminal communicated, host computer receive it is unpacked after packet, integrates, changing, coefficient calibration calculate,
Obtain the miniature five axle five axle macromechanics sensors of macroscopic view, diaphragm type round pressure distribution Micromechanics letter of four positions of foot
Breath sensor and motion sensing follow the trail of the raw voltage data that macromechanics, Micromechanics and the motion sensing of component are followed the trail of,
Coefficient in calibration calculations module carries out calibrating the data that need being calculated after calculating, then data are carried out into extraction point
Analysis, show, finally according to the data of extraction and analysis data characteristicses modeling and real-time to foot dynamic mechanical multi-source information is carried out
Progressive and incidence relation dependency is estimated, and then forms brand-new foot dynamic mechanical multi-source information real-time detection assessment
System.
The foregoing is only presently preferred embodiments of the present invention, not to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (9)
1. a kind of people foot dynamic mechanical real-time detection assessment system, it is characterised in that：Including shoe body (1), data processing transmission mould
Block (2) and host computer (3), the bottom of the shoe body (1) is provided with the first sensing device (4) and the second sensing device (5), described
The top of shoe body (1) is provided with motion sensing and follows the trail of component (6)；
First sensing device (4), for detecting the vertical force in vola, fore-and-aft direction shearing force, left and right directions shearing force, front
Rear direction torque and left and right directions torque, generate the first detection data；
Second sensing device (5), for detecting pressure average, pressure spikes and vola and the contact area of ground in vola,
Generate the second detection data；
The motion sensing follows the trail of component (6), for detecting that angle, angular acceleration and the line in vola and ground real-time contact accelerate
Degree, generates the 3rd detection data；
The data processing transport module (2), for real-time synchronization to the first detection data, the second detection data and the 3rd detection
Data carry out encapsulation process respectively and, into packet, the packet after encapsulation are wirelessly transmitted to into host computer (3)；
The host computer (3), for being unpacked to packet, being integrated, changed, coefficient calibration calculate, then data are carried
Take analysis and show, according to the data of extraction and analysis data characteristicses modeling is carried out, and data are carried out real-time progressive and data it
Between incidence relation assessment, draw people foot Dynamic mechanical property；
Three dimensions vertical force, fore-and-aft direction when people's foot Dynamic mechanical property includes that both feet are contacted in the process of walking with ground
Shearing force, left and right directions shearing force, fore-and-aft direction torque, left and right directions torque, the pressure average of contact surface, the pressure of contact surface
Peak value, contact area, and contact angle, angular acceleration, the linear acceleration on vola and ground；
People's foot Dynamic mechanical property also includes gait cycle time parameter and gait cycle spatial parameter；Gait cycle time parameter
For：Standing phase, swing phase, single support phase, dual-gripper phase and its sequential relationship with the time；Gait cycle spatial parameter is：Step
Length, step width, step pitch, leg speed and its sequential relationship with the time.
2. a kind of people foot dynamic mechanical real-time detection assessment system according to claim 1, it is characterised in that：Described first passes
Induction device (4) includes the one or five axle macromechanics sensor (401), the two or five axle macromechanics sensor (402), the three or five axle
Macromechanics sensor (403) and the four or five axle macromechanics sensor (404), the one or the five axle macromechanics sensor
(401) it is placed at the shoe body (1) correspondence Human Sole first metatarsal position, the two or the five axle macromechanics sensor
(402) it is placed at the shoe body (1) correspondence Human Sole fifth metatarsal bone position, the three or the five axle macromechanics sensor
(403) it is placed in the foot of the shoe body (1) correspondence human body at position, the four or five axle macromechanics sensor (404) is placed in
At the heel position of shoe body (1) the correspondence human body, people heel and first, fifth metatarsal bone position in walking or standing process are in
Stable mechanics triangle, is the concentrated area of stress, and heel and two metatarsal are in ground retroaction in gait cycle
The peak of power, position is the minimum position of midstance ground reaction force peak value in gait cycle in foot, described first
Five axles macromechanics sensor (401), the two or five axle macromechanics sensor (402), the three or five axle macromechanics sensor
(403) and the four or five axle macromechanics sensor (404) be used to measure its corresponding position vertical force and shearing force, generate
First detection data.
3. a kind of people foot dynamic mechanical real-time detection assessment system according to claim 2, it is characterised in that：Described second passes
Induction device (5) includes the first film formula round pressure distribution mechanics information sensor (501), the distribution of the second diaphragm type round pressure
Mechanical information sensor (502), the 3rd diaphragm type round pressure distribution mechanics information sensor (503) and the 4th diaphragm type are circular
Pressure distribution mechanical information sensor (504) is the first film formula round pressure distribution mechanics information sensor (501), second thin
Membrane type round pressure distribution mechanics information sensor (502), the 3rd diaphragm type round pressure distribution mechanics information sensor (503)
It is corresponding in turn to the 4th diaphragm type round pressure distribution mechanics information sensor (504) and is placed in the one or the five axle macromechanics biography
Sensor (401), the two or five axle macromechanics sensor (402), the three or five axle macromechanics sensor (403) and the four or five axle are grand
See at the position of mechanics sensor (404), the first film formula round pressure distribution mechanics information sensor (501), second
Diaphragm type round pressure distribution mechanics information sensor (502), the 3rd diaphragm type round pressure distribution mechanics information sensor
(503) it is distributed mechanics information sensor (504) and is used to measure the pressure of its corresponding position with the 4th diaphragm type round pressure
Distribution, generates the second detection data.
4. a kind of people foot dynamic mechanical real-time detection assessment system according to claim 3, it is characterised in that：Described first is thin
Membrane type round pressure distribution mechanics information sensor (501), the second diaphragm type round pressure distribution mechanics information sensor
(502), the 3rd diaphragm type round pressure distribution mechanics information sensor (503) and the 4th diaphragm type round pressure distribution mechanics letter
Breath sensor (504) measures the pressure of its corresponding position using pressure resistance type array pressure transducer principle, generates second and examines
Data are surveyed, the host computer (3) shows in real time pressure footmark according to the second detection data.
5. a kind of people foot dynamic mechanical real-time detection assessment system according to claim 1, it is characterised in that：The kinesthesia
Survey and follow the trail of component (6) including three-axis gyroscope (601), three axis accelerometer (602) and three-axle magnetic field meter (603), three axle
Gyroscope (601), triaxial accelerometer (602) foot corresponding with the top that three-axle magnetic field meter (603) is placed in the shoe body (1)
At the back of the body, for measuring the angular velocity of the sufficient motion of people, the triaxial accelerometer (602) is for measuring for the three-axis gyroscope (601)
The acceleration of foot movement, the three-axle magnetic field meter (603) is for the measurement and control to people's foot direction of motion.
6. a kind of people foot dynamic mechanical real-time detection assessment system according to any one of claim 1 to 5, it is characterised in that：
The host computer (3) includes communication interface unit (301), information process unit (302), data acquisition unit (303), calibration meter
Calculate unit (304), data access unit (305) and Database Unit (306), the communication interface unit (301) is for accessing
Packet；Described information processing unit (302) is integrated and turned for unpacking to packet to the data after unpacking
Change；The data acquisition unit (303) to the data after integration and conversion for being acquired；The calibration computing
(304) calibrate for entering row coefficient to the data for gathering；The data access unit (305) is for the data after calibrating to coefficient
Carry out being stored in Database Unit (306) or take out, the Database Unit (306) is for the data after packing coefficient calibration；Institute
Stating host computer (3) also includes data extraction and analysis unit (307) and display unit (308), the data extraction and analysis unit
(307) for carrying out extraction and analysis to the data in Database Unit (306)；The display unit (308) is for extraction point
Data after analysis are shown；The host computer (3) also includes data modeling assessment unit (309), the data modeling assessment
Unit (309) for the data after extraction and analysis to be carried out with data characteristicses modeling, and data are carried out real-time progressive and data it
Between incidence relation be estimated, draw people foot Dynamic mechanical property.
7. a kind of people foot dynamic mechanical real-time detection appraisal procedure, it is characterised in that human body is existed by the first sensing device (4)
Vertical force, fore-and-aft direction shearing force when vola contacts with ground in walking process, left and right directions shearing force, fore-and-aft direction torque
Detected with left and right directions torque, generated the first detection data；By the second sensing device (5) to human body in the process of walking
Pressure average, pressure spikes and contact area when vola contacts with ground detected, generates the second detection data；By fortune
Innervation survey follow the trail of component (6) to human body in the process of walking vola contacts with ground when contact angle, angular acceleration, line acceleration
Degree and gait cycle detected, generates the 3rd detection data, gait cycle data include standing phase, swing phase, single support phase,
The data of dual-gripper phase, step-length, step width, step pitch and leg speed；Data processing transport module (2) is to the first detection data, the second inspection
Surveying data and the 3rd detection data carries out difference encapsulation process into packet, by the packet after encapsulation；Host computer (3) is to data
Bag is unpacked, integrated, being changed, coefficient calibration calculates, then data are carried out into extraction and analysis and display, according to the number of extraction and analysis
According to carrying out data characteristicses modeling, and data are carried out with real-time progressive and incidence relation dependency it is estimated, show that people moves enough
State mechanical characteristics；
Three dimensions vertical force, fore-and-aft direction when people's foot dynamic mechanical distribution includes that both feet are contacted in the process of walking with ground
Shearing force, left and right directions shearing force, fore-and-aft direction torque, left and right directions torque, the pressure average of contact surface, the pressure of contact surface
Peak value, contact area, and contact angle, angular acceleration, the linear acceleration on vola and ground；
People's foot Dynamic mechanical property also includes gait cycle time parameter and gait cycle spatial parameter；Gait cycle time parameter
For：Standing phase, swing phase, single support phase, dual-gripper phase and its sequential relationship with the time；Gait cycle spatial parameter is：Step
Length, step width, step pitch, leg speed and its sequential relationship with the time.
8. a kind of people foot dynamic mechanical real-time detection appraisal procedure according to claim 7, it is characterised in that the host computer
(3) communication interface unit (301) accesses the packet of data processing transport module (2)；Information process unit (302) is to data
Bag is unpacked, and the data after unpacking are integrated and changed, and information process unit (302) is direct to Motion sensing component
The linear acceleration for measuring carries out integral and calculating twice with the time, then carries out the frequency that fast fourier transform obtains in real time noise signal
Rate is interval, and the nonlinear data fitting finally by signal will filter the integral and calculating twice of the linear acceleration data after making an uproar and time
The offset data for being obtained, by the spatial domain data of offset data material calculation, step width and step pitch；Data acquisition unit
(303) data after integration and conversion are acquired.
9. a kind of people foot dynamic mechanical real-time detection appraisal procedure according to claim 8, it is characterised in that the calibration meter
Calculate unit (304) and the raw voltage data data that data acquisition unit (303) is gathered are entered with row coefficient calibration；Data access unit
(305) data after coefficient calibration are carried out being stored in Database Unit (306), after the calibration of Database Unit (306) packing coefficient
Data；Data extraction and analysis unit (307) carry out extraction and analysis to the data in Database Unit (306)；Display unit
(308) data after extraction and analysis are shown；Data modeling assessment unit (309) enters line number to the data after extraction and analysis
According to feature modeling, and data are carried out with real-time progressive and incidence relation dependency it is estimated.
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| CN109745055A (en) * | 2018-08-10 | 2019-05-14 | 柳州泽屹科技有限公司 | The terraced detection system of intelligent rehabilitation training and detection method |
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