CN106821389A - A kind of gait foot force distribution measurement method - Google Patents
A kind of gait foot force distribution measurement method Download PDFInfo
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- CN106821389A CN106821389A CN201710048322.7A CN201710048322A CN106821389A CN 106821389 A CN106821389 A CN 106821389A CN 201710048322 A CN201710048322 A CN 201710048322A CN 106821389 A CN106821389 A CN 106821389A
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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
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
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Abstract
The invention discloses a kind of gait foot force distribution measurement method, it is characterized in that：Vision sensor is combined with step pattern measuring device, sole position and profile is obtained using vision sensor, and obtain the information of each main pressure active position of sole；The size of each main pressure of sole is obtained using step pattern measuring device detection.
Description
Technical field
The invention belongs to field of sensing technologies, more specifically a kind of gait foot force distribution measurement method.
Background technology
For the measurement that gait foot force is distributed, at present main method be stick on a certain plane it is multiple small
Pressure sensor determines the distributing position and size of foot force.The Typical Representative of pressure distribution measurement sensor has using electricity
Hold the Xsensor pressure-measuring systems of sensing technology, the Tekscan Pressure Distribution Measuring Systems using piezoresistive sensing technology and adopt
With FSA (Force Sensing Array) pressure testing system of piezo-resistive pressure sensing technology, these sensors are required for
By thousands of slight pressure sensor groups into each sensor unit can only survey a size for pressure, and positional precision is by each
The area of sensor unit determines, and works as that position accuracy demand is higher, and the volume of slight pressure sensor unit must be smaller, into
Ben Genggao, meanwhile, this kind of sensor cannot be measured for tangential force.
The content of the invention
The present invention is to avoid the deficiency existing for above-mentioned prior art, there is provided a kind of gait foot force distribution measuring side
Method, both using multiple load cell array arrangement compositions, and can survey multiple pressure using each load cell, carry high-precision same
Shi Chengben is relatively low, and tangential force can be measured.
The present invention is adopted the following technical scheme that to solve technical problem：
The characteristics of gait foot force distribution measurement method of the present invention is：Vision sensor is mutually tied with step pattern measuring device
Close, obtain sole position and profile using vision sensor, and obtain the information of each main pressure active position of sole；Using step
The detection of state measurement apparatus obtains the size of each main pressure of sole.
The characteristics of measuring method of gait foot force distribution of the present invention, lies also in：Each main pressure effect position of sole
Put respectively：
There is a pressure active position phalanges region for sole ossa suffraginis region, or phalanges region has two pressure to act on
Position is respectively sole ossa suffraginis region, second to toe bones region；
Metatarsal area has two pressure active positions respectively first metatarsal bone region, second to fifth metatarsal bone region, or plantar
There are three pressure active positions respectively first metatarsal bone region, second metatarsal bone region, the 3rd to fifth metatarsal bone region in bone region；
Heel area has a pressure active position for heel overall area, or heel area has two pressure active positions point
Wei not heel medial region, outside of heel region.
The characteristics of measuring method of gait foot force distribution of the present invention, lies also in：The step pattern measuring device is by multiple
Load cell array distribution is constituted, and each load cell structure is identical, and adjacent load cell is mutually pressed close to but connectionless；Gait
During motion, one or more described load cells are acted on by foot force simultaneously, and the load cell can be arrived by one
Seven active forces；
If the region of sole main pressure active position is covered on multiple load cells, then it is assumed that capped is every simultaneously
Individual load cell is subject to a component, and the summation of component is constant suffered by each load cell.
The characteristics of measuring method of gait foot force distribution of the present invention, lies also in：Required measurement on the load cell
Each directed force F is：F=(F1,…,Fi)T, i=1 ..., 7, FiIt is the size of active force on load cell, the output of load cell
Signal M=(u1,…,ui)T, set up the output signal of load cell and the Mathematical Modeling of active force：CF=M, C are by right
Load cell carries out the coefficient matrix of the i × i for demarcating acquisition；Each effect on load cell is gone out according to the Derivation of Mathematical Model
The size F=C of power-1·M；Region for certain sole main pressure active position covers multiple load cells simultaneously, will belong to
Component in the region of same sole main pressure active position is sued for peace, and obtains foot force size.
The characteristics of measuring method of gait foot force distribution of the present invention, lies also in：The load cell is by flat board and knot
Four support beams of structure identical are constituted, and four support beams are respectively the first beam, the second beam, the 3rd beam and the 4th beam；It is described
Four support beams are in cruciform symmetry on plate center, and the head end of support beam is in vertically to be fixedly connected with flat board, the end of support beam
It is fixing end to hold；Foil gauge is set in the support beam, the detection signal according to foil gauge is calculated and obtains institute's stress on flat board
Size with distribution；Set up three-dimensional system of coordinate on the load cell, be the bottom center with flat board as the origin of coordinates, first
In the X-axis, the 3rd beam and the 4th beam are in Y-axis for beam and the second Liang Chu, along flat board thickness direction for Z axis to.
The characteristics of measuring method of gait foot force distribution of the present invention, lies also in：The edge on first beam and the second beam
Y-axis is provided with doubled via, and X axis is provided with doubled via on the 3rd beam and the 4th beam；The doubled via refers to phase
Mutually two parallel single-pass holes are connected, and two single-pass holes are respectively the head end hole and nearly support beam end of nearly support beam head end
The end aperture at end；The foil gauge being arranged in support beam is office in the center line position corresponding to head end hole and end aperture
Support beam lower surface and upper surface, including：
On first beam, foil gauge is respectively provided with the lower surface of the first beam and upper surface corresponding to head end centerline hole position
R11 and R12；On first beam, strain is respectively provided with the lower surface of the first beam and upper surface corresponding to end aperture position of center line
Piece R13 and R14；
On second beam, foil gauge is respectively provided with the lower surface of the second beam and upper surface corresponding to head end centerline hole position
R21 and R22；On second beam, strain is respectively provided with the lower surface of the second beam and upper surface corresponding to end aperture position of center line
Piece R23 and R24；
On 3rd beam, foil gauge is respectively provided with the lower surface of the 3rd beam and upper surface corresponding to head end centerline hole position
R31 and R32；On 3rd beam, strain is respectively provided with the lower surface of the 3rd beam and upper surface corresponding to end aperture position of center line
Piece R33 and R34；
On 4th beam, foil gauge is respectively provided with the lower surface of the 4th beam and upper surface corresponding to head end centerline hole position
R41 and R42；On 4th beam, strain is respectively provided with the lower surface of the 4th beam and upper surface corresponding to end aperture position of center line
Piece R43 and R44；
Described foil gauge R11, R12, R13 and R14, and foil gauge R21, R22, R23 and R24 are set along X axis；
Described foil gauge R31, R32, R33 and R34, and foil gauge R31, R32, R33 and R34 are set along Y-axis；
Using the foil gauge R11 and R12, foil gauge R13 and R14, foil gauge R21 and R22, foil gauge R23 and R24,
Foil gauge R31 and R32, foil gauge R33 and R34, foil gauge R41 and R42, and foil gauge R43 and R44 separately constitute favour stone
Half-bridge circuit, it is U to correspond and obtain detection signal11、U12、U21、U22、U31、U32、U41And U42, eight detection signals altogether,
Wherein U11And U12It is the first beam detection signal；U21And U22It is the second beam detection signal；U31And U32It is the 3rd beam detection signal；U41
And U42It is the 4th beam detection signal；The size for obtaining each active force on load cell (1) is calculated using the detection signal.
The characteristics of measuring method of gait foot force distribution of the present invention, lies also in：
Circumferential beam is connected in " T " in the head end of each support beam, the support beam is in perpendicular with the two ends of circumferential beam in head end
It is fixedly connected to flat board, a pair of head end Z-direction through holes is symmetrical arranged at the two ends of the circumferential beam, the pair of head end Z-direction is led to
Hole be office the left end Z-direction through hole of circumferential beam left end and office circumferential beam right-hand member right-hand member Z-direction through hole, the circumferential beam point
It is not：
Positioned at the first circumferential beam of the head end of the first beam；
Positioned at the second circumferential beam of the head end of the second beam；
Positioned at the 3rd circumferential beam of the head end of the 3rd beam；
Positioned at the fourth circumferential beam of the head end of the 4th beam；
In the end of each support beam, one end Z-direction through hole is set；Or one section of floating beam is set in the end of each support beam,
The floating beam and support beam on the same line, and floating beam width of the width less than support beam, form support beam
Thin neck；
The foil gauge is also disposed on circumferential beam, corresponding to right-hand member Z-direction through hole position on each circumferential beam, and upward
Circumferential beam center deviation right-hand member Z-direction through hole center, office in the outer surface of circumferential beam and inner surface, including：
Foil gauge R51 and R52 of the office on the outer surface and inner surface of the first circumferential beam；
Foil gauge R53 and R54 of the office on the outer surface and inner surface of the second circumferential beam；
Foil gauge R61 and R62 of the office on the outer surface and inner surface of the 3rd circumferential beam；
Foil gauge R63 and R64 of the office on the outer surface and inner surface of fourth circumferential beam；
Foil gauge R51, R52, R53 and R54 are set along Y-axis；Described foil gauge R61, R62, R63 and R64 set along X axis
Put.
One group of favour stone full-bridge circuit, the work for detecting X axis are constituted by described foil gauge R51, R52, R53 and R54
Firmly Fx；
Another group of favour stone full-bridge circuit is constituted by described foil gauge R61, R62, R63 and R64, for detecting Y-axis
Directed force Fy。
The characteristics of measuring method of gait foot force distribution of the present invention, lies also in：For including ossa suffraginis region,
Two to toe bones region, first metatarsal bone region, second metatarsal bone region, the 3rd to toe bones region, heel medial region and
Totally seven sole main pressure active positions in outside of heel region, carry out dynamometry as follows：
If measuring an amount of force F using load celli, ci·Fi=mi；Wherein ciIt is constant, constant ciWith effect
Position coordinates (the x of poweri,yi) and the detection signal of selection it is related, miIt is any one being close in the support beam of force position
Detection signal；
If measuring two amount of force F using load cellaAnd Fb；CF=M；Wherein C is 2 × 2 constant matrices, often
Matrix number C and force position coordinate (xa,ya) and (xb,yb) and the detection signal of selection it is related；Vectorial F=(Fa, Fb)T；
For a detection signal is respectively chosen in two support beams of force position, vector M is constituted；
If measuring three amount of force F using load cella、FbAnd Fc；CF=M；Wherein C is 3 × 3 constant matrices,
Constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc) and the detection signal of selection it is related；Vectorial F=
(Fa, Fb, Fc)T；M is three vectors of detection signal composition in eight detection signals, and for each support beam (3) most multiselect
Take a detection signal；
If measuring four amount of force F using load cella、Fb、FcAnd Fd；CF=M；Wherein C is 4 × 4 constant squares
Battle array, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc) and (xd,yd) and selection detection signal phase
Close；Vectorial F=(Fa, Fb, Fc, Fd)T；M is four vectors of detection signal composition in eight detection signals, and in each support beam
Choose a detection signal；
If measuring five amount of force F using load cella、Fb、Fc、FdAnd Fe；CF=M；Wherein C is 5 × 5 constants
Matrix, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) and selection
Detection signal is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe)T；M is five vectors of detection signal composition in eight detection signals,
And a detection signal is respectively chosen in two support beams on fore-and-aft direction when walking, on left and right directions when walking
Three output signals are arbitrarily chosen in support beam；
If measuring six amount of force F using load cella、Fb、Fc、Fd、FeAnd Ff；CF=M；Wherein C is 6 × 6
Constant matrices, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) and (xf,
yf) and the detection signal of selection it is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe, Ff)T；M is six detections in eight detection signals
Signal composition vector, and walking when fore-and-aft direction on each support beam (3) at least choose an output signal, walk
When left and right directions on two support beams at least choose three output signals；
If measuring seven amount of force F using load cella、Fb、Fc、Fd、Fe、FfAnd Fg；CF=M；Wherein C is 7
× 7 constant matrices, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye)、(xf,
yf) and (xg,yg) and the detection signal of selection it is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe, Ff, Fg)T；M is eight output signals
In seven detection signals composition vectors, and any in two support beams on fore-and-aft direction during walking choose three output letters
Number, four output signals are chosen in two support beams on left and right directions during walking；
Then the amount of force F in each measuring unit is：F=C-1·M；Same sole main pressure will be belonged to make
A sole main pressure size is merged into the active force in the region of position, according to each main pressure size and location of sole
Realize Gait measurement.
Compared with the prior art, the present invention has the beneficial effect that：
1st, be combined for vision sensor and force snesor by the present invention, can exactly measure the distribution of sole main pressure
Position and size；
2nd, the present invention can measure the size and Orientation of the tangential force suffered by flat board, and two mutually perpendicular tangential forces are separated
Measurement, with fine anti-interference；
3rd, measurement sensitivity of the present invention is high, measuring unit simple structure low cost, good stability, long service life.
Brief description of the drawings
Fig. 1 is gait foot force distribution measurement method schematic diagram of the present invention；
Fig. 2 is load cell structural representation in the present invention；
Fig. 3 a are the foil gauge position view of load cell lower surface shown in Fig. 2；
Fig. 3 b are the foil gauge position view of load cell upper surface shown in Fig. 2；
Fig. 4 is second load cell structural representation in the present invention；
Fig. 5 a are the foil gauge position view of load cell lower surface shown in Fig. 4；
Fig. 5 b are the foil gauge position view of load cell upper surface shown in Fig. 4；
Fig. 6 is the third load cell structural representation in the present invention；
Fig. 7 a are the foil gauge position view of load cell lower surface shown in Fig. 6；
Fig. 7 b are the foil gauge position view of load cell upper surface shown in Fig. 6；
Label in figure：1 load cell；2 flat boards；3 support beams；4 doubled vias；5 pressure active positions；6 circumferential beams；7 head end Z
To through hole；8 end Z-direction through holes；9 floating beams；The beams of 1a first, the beams of 2a second, the beams of 3a the 3rd, the beams of 4a the 4th, the circumferential beams of 1b first,
The circumferential beams of 2b second, the circumferential beams of 3b the 3rd, 4b fourth circumferential beams.
Specific embodiment
Referring to Fig. 1, gait foot force distribution measurement method is to fill vision sensor and Gait measurement in the present embodiment
Put and be combined, obtain sole position and profile using vision sensor, and obtain the letter of each main pressure active position 5 of sole
Breath；The size of each main pressure of sole is obtained using step pattern measuring device detection.
Each main pressure active position 5 of sole is respectively：It is the toe of sole first that there is a pressure active position phalanges region
There are two pressure active positions respectively sole ossa suffraginis region, second to toe bones region in bone region, or phalanges region；Plantar
There are two pressure active positions respectively first metatarsal bone region, second to fifth metatarsal bone region in bone region, or metatarsal area has three
Individual pressure active position is respectively first metatarsal bone region, second metatarsal bone region, the 3rd to fifth metatarsal bone region；Heel area has one
Individual pressure active position is heel overall area, or heel area has two pressure active positions respectively heel medial region, foot
With exterior lateral area.
Step pattern measuring device is made up of the array distribution of multiple load cells 1 in the present embodiment, each structure of load cell 1
Identical, adjacent load cell 1 is mutually pressed close to but connectionless；During gait motion, one or more described load cells 1 are received simultaneously
Acted on to foot force, load cell 1 can be subject to one to seven active forces.
If the region of sole main pressure active position 5 is covered on multiple load cells 1, then it is assumed that capped simultaneously
Each load cell 1 is subject to a component, and the summation of component is constant suffered by each load cell 1.
Order：Each directed force F of required measurement is on load cell 1：F=(F1,…,Fi)T, i=1 ..., 7, FiIt is dynamometry
The size of active force on unit 1, the output signal M=(u of load cell 11,…,ui)T, set up the output signal of load cell 1
With the Mathematical Modeling of active force：CF=M, wherein, C is the coefficient square by load cell demarcate the i × i of acquisition
Battle array；Go out the size F=C of each active force on load cell 1 according to Derivation of Mathematical Model-1·M。
Region for certain sole main pressure active position 5 covers multiple load cells 1 simultaneously, will belong to same
The component summation in the region of sole main pressure active position 5, obtains foot force size.
As shown in Fig. 2, Fig. 4 and Fig. 6, load cell 1 is by four support beams of flat board 2 and structure identical in the present embodiment
3 are constituted, and four support beams 3 are respectively the first beam 1a, the second beam 2a, the 3rd beam 3a and the 4th beam 4a；Four support beams 3 are on flat
The center of plate 2 is in cruciform symmetry, and in being vertically fixedly connected with flat board 2, the end of support beam 3 is fixing end to the head end of support beam 3；
Foil gauge is set in support beam 3, the detection signal according to foil gauge is calculated and obtains the size of institute's stress and distribution on flat board 2；
Three-dimensional system of coordinate is set up on load cell, be the bottom center with flat board 2 as the origin of coordinates, the first beam 1a and the second beam 2a are in
On X axis, the 3rd beam 3a and the 4th beam 4a are in Y-axis, along flat board 2 thickness direction for Z axis to.
As shown in Figure 3 a and Figure 3 b shows, in the present embodiment, Y-axis is provided with doubled via on the first beam 1a and the second beam 2a
4, X axis is provided with doubled via 4 on the 3rd beam 3a and the 4th beam 4a；Doubled via 4 refers to two single-pass holes being parallel to each other
It is connected, two single-pass holes are respectively head end hole and the end aperture of nearly support beam end of nearly support beam head end；It is arranged on support
Foil gauge on beam 3 is office in the lower surface corresponding to head end hole and the support beam of the center line position of end aperture and upper
Surface, including：
On first beam 1a, strain is respectively provided with the lower surface of the first beam and upper surface corresponding to head end centerline hole position
Piece R11 and R12；On first beam 1a, it is respectively provided with the lower surface of the first beam and upper surface corresponding to end aperture position of center line
Foil gauge R13 and R14；
On second beam 2a, strain is respectively provided with the lower surface of the second beam and upper surface corresponding to head end centerline hole position
Piece R21 and R22；On second beam 2a, it is respectively provided with the lower surface of the second beam and upper surface corresponding to end aperture position of center line
Foil gauge R23 and R24；
On 3rd beam 3a, strain is respectively provided with the lower surface of the 3rd beam and upper surface corresponding to head end centerline hole position
Piece R31 and R32；On 3rd beam 3a, it is respectively provided with the lower surface of the 3rd beam and upper surface corresponding to end aperture position of center line
Foil gauge R33 and R34；
On 4th beam 4a, strain is respectively provided with the lower surface of the 4th beam and upper surface corresponding to head end centerline hole position
Piece R41 and R42；On 4th beam 4a, it is respectively provided with the lower surface of the 4th beam and upper surface corresponding to end aperture position of center line
Foil gauge R43 and R44；
Foil gauge R11, R12, R13 and R14, and foil gauge R21, R22, R23 and R24 are set along X axis；
Foil gauge R31, R32, R33 and R34, and foil gauge R31, R32, R33 and R34 are set along Y-axis；
Using foil gauge R11 and R12, foil gauge R13 and R14, foil gauge R21 and R22, foil gauge R23 and R24, strain
Piece R31 and R32, foil gauge R33 and R34, foil gauge R41 and R42, and foil gauge R43 and R44 separately constitute favour stone half-bridge
Circuit, it is U to correspond and obtain detection signal11、U12、U21、U22、U31、U32、U41And U42, eight detection signals altogether, wherein
U11And U12It is the first beam detection signal；U21And U22It is the second beam detection signal；U31And U32It is the 3rd beam detection signal；U41With
U42It is the 4th beam detection signal；The size for obtaining each active force on load cell 1 is calculated using detection signal.
As shown in Figure 4 and shown in Fig. 6, circumferential beam 6 can be connected in " T " in the head end of each support beam 3, support beam 3 is in head
End is, in being vertically fixedly connected with flat board 2, to be symmetrical arranged a pair of head end Z-directions at the two ends of circumferential beam 6 and lead to the two ends of circumferential beam 6
Hole 7, a pair of head end Z-direction through holes 7 be office the left end Z-direction through hole of circumferential beam left end and office circumferential beam right-hand member right-hand member Z
To through hole, circumferential beam is respectively：
Positioned at the first circumferential beam 1b of the head end of the first beam 1a；
Positioned at the second circumferential beam 2b of the head end of the second beam 2a；
Positioned at the 3rd circumferential beam 3b of the head end of the 3rd beam 3a；
Positioned at the fourth circumferential beam 4b of the head end of the 4th beam 4a；
It is that an end Z-direction through hole 8 is set in the end of each support beam 3 shown in Fig. 4；It is at the end of each support beam 3 shown in Fig. 6
End sets one section of floating beam 9, floating beam 9 and support beam 3 on the same line, and floating beam 9 width less than support beam 3
Width, forms the thin neck of support beam 3.
Foil gauge is also disposed on circumferential beam 6, corresponding to right-hand member Z-direction through hole position on each circumferential beam, and towards last week
To beam center deviation right-hand member Z-direction through hole center, office in the outer surface of circumferential beam 6 and inner surface, including such as Fig. 5 a and Fig. 5 b, with
And shown in Fig. 7 a and Fig. 7 b：
Foil gauge R51 and R52 of the office on the outer surface and inner surface of the first circumferential beam 1b；
Foil gauge R53 and R54 of the office on the outer surface and inner surface of the second circumferential beam 2b；
Foil gauge R61 and R62 of the office on the outer surface and inner surface of the 3rd circumferential beam 3b；
Foil gauge R63 and R64 of the office on the outer surface and inner surface of fourth circumferential beam 4b；
Foil gauge R51, R52, R53 and R54 are set along Y-axis；Foil gauge R61, R62, R63 and R64 are set along X axis.
One group of favour stone full-bridge circuit, the active force for detecting X axis are constituted by foil gauge R51, R52, R53 and R54
Fx；Another group of favour stone full-bridge circuit, the directed force F for detecting Y-axis are constituted by foil gauge R61, R62, R63 and R64y。
For including ossa suffraginis region, second to toe bones region, first metatarsal bone region, second metatarsal bone region, the 3rd
To totally seven sole main pressure active positions 5 in toe bones region, heel medial region and outside of heel region, by such as
Under type carries out dynamometry：
If measuring an amount of force F using load cell 1i, ci·Fi=mi；Wherein ciIt is constant, constant ciWith work
Position coordinates (x firmlyi,yi) and the detection signal of selection it is related, miBe be close to it is any in the support beam 3 of force position
One detection signal.
If measuring two amount of force F using load cell 1aAnd Fb；CF=M；Wherein C is 2 × 2 constant matrices, often
Matrix number C and force position coordinate (xa,ya) and (xb,yb) and the detection signal of selection it is related；Vectorial F=(Fa, Fb)T；
For a detection signal is respectively chosen in two support beams 3 of force position, vector M is constituted.
If measuring three amount of force F using load cell 1a、FbAnd Fc；CF=M；Wherein C is 3 × 3 constant squares
Battle array, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc) and the detection signal of selection it is related；Vectorial F
=(Fa, Fb, Fc)T；M is three vectors of detection signal composition in eight detection signals, and for each most multiselect of support beam 3
Take a detection signal.
If measuring four amount of force F using load cell 1a、Fb、FcAnd Fd；CF=M；Wherein C is 4 × 4 constants
Matrix, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc) and (xd,yd) and selection detection signal
It is related；Vectorial F=(Fa, Fb, Fc, Fd)T；M is four vectors of detection signal composition in eight detection signals, and each support beam
A detection signal is chosen on 3.
If measuring five amount of force F using load cell 1a、Fb、Fc、FdAnd Fe；CF=M；Wherein C is 5 × 5 normal
Matrix number, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) and selection
Detection signal it is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe)T；M be in eight detection signals five detection signal compositions to
One detection signal of each selection, right and left when walking on two support beams (3) in amount, and fore-and-aft direction when walking
Three output signals are arbitrarily chosen in upward support beam 3.
If measuring six amount of force F using load cell 1a、Fb、Fc、Fd、FeAnd Ff；CF=M；Wherein C is 6 × 6
Constant matrices, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) and (xf,
yf) and the detection signal of selection it is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe, Ff)T；M is six detections in eight detection signals
Signal composition vector, and walking when fore-and-aft direction on each support beam 3 at least choose an output signal, during walking
Left and right directions on two support beams 3 at least choose three output signals.
If measuring seven amount of force F using load cell 1a、Fb、Fc、Fd、Fe、FfAnd Fg；CF=M；Wherein C is 7
× 7 constant matrices, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye)、(xf,
yf) and (xg,yg) and the detection signal of selection it is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe, Ff, Fg)T；M is eight output signals
In seven detection signals composition vectors, and any in two support beams 3 on fore-and-aft direction during walking choose three outputs
Signal, chooses four output signals in two support beams 3 on left and right directions during walking.
Then the amount of force F in each measuring unit 1 is：F=C-1·M；Same sole main pressure will be belonged to
The active force in the region of active position 5 merges into a sole main pressure size, according to each main pressure size of sole and
Realize Gait measurement in position.
The present invention can survey multiple pressure both using multiple load cell array arrangement compositions using each load cell,
Cost is relatively low while improving precision, and tangential force can be measured.The present invention can be used to detect body gait and
Each site pressure situation in vola, for the correction of child's foot type, the detection of step Rehabilitation degree and finds sportsman and most has
Effect ground motion mode etc. plays an important roll.
Claims (8)
1. a kind of gait foot force distribution measurement method, it is characterized in that：Vision sensor is combined with step pattern measuring device,
Sole position and profile are obtained using vision sensor, and obtains the information of each main pressure active position (5) of sole；Using step
The detection of state measurement apparatus obtains the size of each main pressure of sole.
2. the measuring method that gait foot force according to claim 1 is distributed, it is characterized in that：Each main pressure of sole
Power active position (5) is respectively：
There is a pressure active position phalanges region for sole ossa suffraginis region, or there are two pressure active positions phalanges region
Respectively sole ossa suffraginis region, second arrive toe bones region；
Metatarsal area has two pressure active positions respectively first metatarsal bone region, second to fifth metatarsal bone region, or metatarsal area
There are three pressure active positions respectively first metatarsal bone region, second metatarsal bone region, the 3rd to fifth metatarsal bone region in domain；
Heel area has a pressure active position for heel overall area, or heel area has two pressure active positions to be respectively
Heel medial region, outside of heel region.
3. gait foot force distribution measurement method according to claim 2, it is characterized in that：The step pattern measuring device is
It is made up of multiple load cells (1) array distribution, each load cell (1) structure is identical, adjacent load cell (1) is mutually pasted
It is near but connectionless；During gait motion, one or more described load cells (1) by foot force while acted on, the dynamometry
Unit (1) can be subject to one to seven active force；If the region of sole main pressure active position (5) is covered in multiple simultaneously
On load cell (1), then it is assumed that each capped load cell (1) is subject to a component, suffered point of each load cell (1)
The summation of power is constant.
4. gait foot force distribution measurement method according to claim 3, it is characterized in that：On the load cell (1)
Each directed force F of required measurement is：F=(F1,…,Fi)T, i=1 ..., 7, FiIt is the size of active force on load cell (1),
Output signal M=(the u of load cell (1)1,…,ui)T, set up the output signal of load cell (1) and the mathematical modulo of active force
Type：CF=M, C are the coefficient matrixes by load cell demarcate the i × i of acquisition；According to the Derivation of Mathematical Model
Go out the size F=C of each active force on load cell (1)-1·M；For the region of certain sole main pressure active position (5)
Multiple load cells (1) are covered simultaneously, will belong to the component summation in the region of same sole main pressure active position (5),
Obtain foot force size.
5. gait foot force distribution measurement method according to claim 3, it is characterized in that：The load cell (1) is
It is made up of four support beams (3) of flat board (2) and structure identical, four support beams (3) are respectively the first beam (1a), second
Beam (2a), the 3rd beam (3a) and the 4th beam (4a)；Four support beams (3) are in cruciform symmetry, support on flat board (2) center
In being vertically fixedly connected with flat board (2), the end of support beam (3) is fixing end to the head end of beam (3)；In the support beam (3)
Foil gauge is set, and the detection signal according to foil gauge is calculated and obtains the size of institute's stress and distribution on flat board (2)；In the dynamometry
Three-dimensional system of coordinate is set up on unit, be the bottom center with flat board (2) as the origin of coordinates, the first beam (1a) and the second beam (2a) place
In the X-axis, the 3rd beam (3a) and the 4th beam (4a) are in Y-axis, along flat board (2) thickness direction for Z axis to.
6. gait foot force distribution measurement method according to claim 5, it is characterized in that：In first beam (1a) and
Y-axis is provided with doubled via (4) on second beam (2a), is set along X axis on the 3rd beam (3a) and the 4th beam (4a)
There is doubled via (4)；The doubled via (4) refers to that two single-pass holes being parallel to each other are connected, and two single-pass holes are respectively
The head end hole of nearly support beam head end and the end aperture of nearly support beam end；The foil gauge being arranged in support beam (3) is that office exists
Corresponding to the lower surface and upper surface of head end hole and the support beam of the center line position of end aperture, including：
On first beam (1a), foil gauge is respectively provided with the lower surface of the first beam and upper surface corresponding to head end centerline hole position
R11 and R12；On first beam (1a), it is respectively provided with the lower surface of the first beam and upper surface corresponding to end aperture position of center line
Foil gauge R13 and R14；
On second beam (2a), foil gauge is respectively provided with the lower surface of the second beam and upper surface corresponding to head end centerline hole position
R21 and R22；On second beam (2a), it is respectively provided with the lower surface of the second beam and upper surface corresponding to end aperture position of center line
Foil gauge R23 and R24；
On 3rd beam (3a), foil gauge is respectively provided with the lower surface of the 3rd beam and upper surface corresponding to head end centerline hole position
R31 and R32；On 3rd beam (3a), it is respectively provided with the lower surface of the 3rd beam and upper surface corresponding to end aperture position of center line
Foil gauge R33 and R34；
On 4th beam (4a), foil gauge is respectively provided with the lower surface of the 4th beam and upper surface corresponding to head end centerline hole position
R41 and R42；On 4th beam (4a), it is respectively provided with the lower surface of the 4th beam and upper surface corresponding to end aperture position of center line
Foil gauge R43 and R44；
Described foil gauge R11, R12, R13 and R14, and foil gauge R21, R22, R23 and R24 are set along X axis；
Described foil gauge R31, R32, R33 and R34, and foil gauge R31, R32, R33 and R34 are set along Y-axis；
Using the foil gauge R11 and R12, foil gauge R13 and R14, foil gauge R21 and R22, foil gauge R23 and R24, strain
Piece R31 and R32, foil gauge R33 and R34, foil gauge R41 and R42, and foil gauge R43 and R44 separately constitute favour stone half-bridge
Circuit, it is U to correspond and obtain detection signal11、U12、U21、U22、U31、U32、U41And U42, eight detection signals altogether, wherein
U11And U12It is the first beam detection signal；U21And U22It is the second beam detection signal；U31And U32It is the 3rd beam detection signal；U41With
U42It is the 4th beam detection signal；The size for obtaining each active force on load cell (1) is calculated using the detection signal.
7. gait foot force distribution measurement method according to claim 6, it is characterized in that：
Circumferential beam (6) is connected in " T " in the head end of each support beam (3), the support beam (3) is with circumferential beam (6) in head end
Two ends are symmetrical arranged a pair of head end Z-directions through hole (7) in being vertically fixedly connected with flat board (2) at the two ends of the circumferential beam (6),
The pair of head end Z-direction through hole (7) be office the left end Z-direction through hole of circumferential beam left end and office circumferential beam right-hand member right-hand member
Z-direction through hole, the circumferential beam is respectively：
Positioned at the first circumferential beam (1b) of the head end of the first beam (1a)；
Positioned at the second circumferential beam (2b) of the head end of the second beam (2a)；
Positioned at the 3rd circumferential beam (3b) of the head end of the 3rd beam (3a)；
Positioned at the fourth circumferential beam (4b) of the head end of the 4th beam (4a)；
In the end of each support beam (3), end Z-direction through hole (8) is set；Or setting one section in the end of each support beam (3) floats
Dynamic beam (9), with support beam (3) on the same line, and the width of floating beam (9) is less than support beam (3) to the floating beam (9)
Width, formed support beam (3) thin neck；
The foil gauge is also disposed on circumferential beam (6), corresponding to right-hand member Z-direction through hole position on each circumferential beam, and upward
Circumferential beam center deviation right-hand member Z-direction through hole center, office in the outer surface of circumferential beam (6) and inner surface, including：
Foil gauge R51 and R52 of the office on the outer surface and inner surface of the first circumferential beam (1b)；
Foil gauge R53 and R54 of the office on the outer surface and inner surface of the second circumferential beam (2b)；
Foil gauge R61 and R62 of the office on the outer surface and inner surface of the 3rd circumferential beam (3b)；
Foil gauge R63 and R64 of the office on the outer surface and inner surface of fourth circumferential beam (4b)；
Foil gauge R51, R52, R53 and R54 are set along Y-axis；Described foil gauge R61, R62, R63 and R64 are set along X axis.
One group of favour stone full-bridge circuit, the active force for detecting X axis are constituted by described foil gauge R51, R52, R53 and R54
Fx；
Another group of favour stone full-bridge circuit, the effect for detecting Y-axis are constituted by described foil gauge R61, R62, R63 and R64
Power Fy。
8. gait foot force distribution measurement method according to claim 7, it is characterized in that：For including ossa suffraginis area
Domain, second to toe bones region, first metatarsal bone region, second metatarsal bone region, the 3rd to toe bones region, heel medial region
And totally seven sole main pressures active position (5) in outside of heel region, dynamometry is carried out as follows：
If measuring an amount of force F using load cell (1)i, ci·Fi=mi；Wherein ciIt is constant, constant ciWith effect
Position coordinates (the x of poweri,yi) and the detection signal of selection it is related, miBe be close to it is any in the support beam of force position (3)
One detection signal；
If measuring two amount of force F using load cell (1)aAnd Fb；CF=M；Wherein C is 2 × 2 constant matrices, constant
Matrix C and force position coordinate (xa,ya) and (xb,yb) and the detection signal of selection it is related；Vectorial F=(Fa, Fb)T；Pin
To one detection signal of each selection on two support beams (3) of force position, vector M is constituted；
If measuring three amount of force F using load cell (1)a、FbAnd Fc；CF=M；Wherein C is 3 × 3 constant matrices,
Constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc) and the detection signal of selection it is related；Vectorial F=
(Fa, Fb, Fc)T；M is three vectors of detection signal composition in eight detection signals, and for each support beam (3) most multiselect
Take a detection signal；
If measuring four amount of force F using load cell (1)a、Fb、FcAnd Fd；CF=M；Wherein C is 4 × 4 constant squares
Battle array, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc) and (xd,yd) and selection detection signal phase
Close；Vectorial F=(Fa, Fb, Fc, Fd)T；M is four vectors of detection signal composition in eight detection signals, and each support beam
(3) detection signal is chosen on；
If measuring five amount of force F using load cell (1)a、Fb、Fc、FdAnd Fe；CF=M；Wherein C is 5 × 5 constants
Matrix, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) and selection
Detection signal is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe)T；M is five vectors of detection signal composition in eight detection signals,
And on two support beams (3) on fore-and-aft direction when walking it is each selection one detection signal, left and right directions when walking
On support beam (3) on it is any selection three output signals；
If measuring six amount of force F using load cell (1)a、Fb、Fc、Fd、FeAnd Ff；CF=M；Wherein C is 6 × 6 normal
Matrix number, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) and (xf,yf)
And the detection signal of selection is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe, Ff)T；M is six detection letters in eight detection signals
Number composition vector, and walking when fore-and-aft direction on each support beam (3) at least choose an output signal, during walking
Left and right directions on two support beams (3) at least choose three output signals；
If measuring seven amount of force F using load cell (1)a、Fb、Fc、Fd、Fe、FfAnd Fg；CF=M；Wherein C is 7 × 7
Constant matrices, constant matrices C and force position coordinate (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye)、(xf,yf)
(xg,yg) and the detection signal of selection it is related；Vectorial F=(Fa, Fb, Fc, Fd, Fe, Ff, Fg)T；M is in eight output signals
It is any on two support beams (3) on the vectors of seven detection signals composition, and fore-and-aft direction during walking to choose three outputs
Signal, chooses four output signals on two support beams (3) on left and right directions during walking；
Then the amount of force F in each measuring unit (1) is：F=C-1·M；Same sole main pressure will be belonged to make
Merge into a sole main pressure size with the active force in the region of position (5), according to each main pressure size of sole and
Realize Gait measurement in position.
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