CN106821389B - Gait sole pressure distribution measuring method - Google Patents
Gait sole pressure distribution measuring method Download PDFInfo
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- CN106821389B CN106821389B CN201710048322.7A CN201710048322A CN106821389B CN 106821389 B CN106821389 B CN 106821389B CN 201710048322 A CN201710048322 A CN 201710048322A CN 106821389 B CN106821389 B CN 106821389B
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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
Abstract
The invention discloses a gait sole pressure distribution measuring method, which is characterized in that: combining a vision sensor with a gait measuring device, acquiring the position and the shape of a sole by using the vision sensor, and acquiring the information of each main pressure action position of the sole; and detecting and obtaining the magnitude of each main pressure of the sole by using a gait measuring device.
Description
Technical Field
The invention belongs to the technical field of sensing, and particularly relates to a gait sole pressure distribution measuring method.
Background
For measuring the distribution of the pressure of the foot sole in the gait, the current main method is to adhere a plurality of tiny pressure sensors on a certain plane to determine the distribution position and the size of the pressure of the foot sole. Typical representatives of the pressure distribution measuring sensors include an Xsensor pressure measuring system using a capacitance Sensing technology, a Tekscan pressure distribution measuring system using a piezoresistive Sensing technology, and an fsa (force Sensing array) pressure measuring system using a piezoresistance pressure Sensing technology, all of which are composed of thousands of tiny pressure sensors, each sensor unit can only measure one pressure, the position accuracy is determined by the area of each sensor unit, and when the position accuracy is higher, the volume of the tiny pressure sensor unit must be smaller, the cost is higher, and meanwhile, the sensors cannot measure the tangential force.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a gait sole pressure distribution measuring method which is formed by arranging a plurality of force measuring units in an array mode, can measure a plurality of pressures by each force measuring unit, improves the accuracy, is low in cost and can measure the tangential force.
The invention adopts the following technical scheme for solving the technical problems:
the gait sole pressure distribution measuring method of the invention is characterized in that: combining a vision sensor with a gait measuring device, acquiring the position and the shape of a sole by using the vision sensor, and acquiring the information of each main pressure action position of the sole; and detecting and obtaining the magnitude of each main pressure of the sole by using a gait measuring device.
The measuring method of the gait sole pressure distribution of the invention is also characterized in that: the main pressure action positions of the sole are respectively as follows:
the phalange area has one pressure action position which is a first phalange area of the sole of the foot, or the phalange area has two pressure action positions which are the first phalange area of the sole of the foot and the second phalange area to the fifth phalange area of the sole of the foot respectively;
the metatarsal region has two pressure acting positions which are respectively a first metatarsal region, a second metatarsal region to a fifth metatarsal region, or the metatarsal region has three pressure acting positions which are respectively the first metatarsal region, the second metatarsal region and the third metatarsal region to the fifth metatarsal region;
the heel area has one pressure action position as the total heel area, or the heel area has two pressure action positions as the medial heel area and the lateral heel area.
The measuring method of the gait sole pressure distribution of the invention is also characterized in that: the gait measuring device is formed by a plurality of force measuring units in an array distribution mode, each force measuring unit has the same structure, and adjacent force measuring units are close to each other but are not connected; during gait movement, one or more force measuring units are subjected to sole pressure at the same time, and the force measuring units can be subjected to one to seven acting forces;
if the area of the main pressure action position of the sole covers a plurality of force measuring units at the same time, each covered force measuring unit is considered to be subjected to a component force, and the sum of the component forces of each force measuring unit is unchanged.
The measuring method of the gait sole pressure distribution of the invention is also characterized in that: the acting force F required to be measured on the force measuring unit is as follows: f ═ F1,…,Fi)T，i＝1,…,7，FiIs the magnitude of the acting force on the force measuring unit,the output signal M ═ u of the force-measuring cell1,…,ui)TEstablishing a mathematical model of the output signal and the acting force of the force measuring unit: c · F ═ M, C is the i × i coefficient matrix obtained by calibrating the force cell; deducing the magnitude F ═ C of each acting force on the force measuring unit according to the mathematical model-1M; and simultaneously covering a plurality of force measuring units aiming at the area of a certain main sole pressure action position, and summing the component forces of the areas belonging to the same main sole pressure action position to obtain the sole pressure.
The measuring method of the gait sole pressure distribution of the invention is also characterized in that: the force measuring unit is composed of a flat plate and four supporting beams with the same structure, wherein the four supporting beams are a first beam, a second beam, a third beam and a fourth beam respectively; the four supporting beams are in cross symmetry about the center of the flat plate, the head ends of the supporting beams are vertically and fixedly connected with the flat plate, and the tail ends of the supporting beams are fixed ends; arranging strain gauges on the supporting beam, and calculating according to detection signals of the strain gauges to obtain the stress magnitude and distribution on the flat plate; and establishing a three-dimensional coordinate system on the force measuring unit, wherein the center of the bottom surface of the flat plate is taken as the origin of coordinates, the first beam and the second beam are positioned in the X axial direction, the third beam and the fourth beam are positioned in the Y axial direction, and the thickness direction of the flat plate is taken as the Z axial direction.
The measuring method of the gait sole pressure distribution of the invention is also characterized in that: double through holes are formed in the first beam and the second beam along the Y-axis direction, and double through holes are formed in the third beam and the fourth beam along the X-axis direction; the double through holes are two single through holes which are parallel to each other and are communicated with each other, and the two single through holes are respectively a head end hole close to the head end of the supporting beam and a tail end hole close to the tail end of the supporting beam; the strain gauges provided on the support beam are lower and upper surfaces of the support beam at positions corresponding to the center lines of the head-end hole and the tail-end hole, respectively, and include:
strain gauges R11 and R12 are respectively arranged on the lower surface and the upper surface of the first beam corresponding to the center line position of the head end hole; strain gauges R13 and R14 are respectively arranged on the lower surface and the upper surface of the first beam corresponding to the central line position of the end hole;
strain gauges R21 and R22 are respectively arranged on the lower surface and the upper surface of the second beam corresponding to the center line position of the head end hole; strain gauges R23 and R24 are provided on the second beam corresponding to the position of the center line of the end hole on the lower surface and the upper surface of the second beam, respectively;
strain gauges R31 and R32 are respectively arranged on the lower surface and the upper surface of the third beam corresponding to the center line position of the head end hole; strain gauges R33 and R34 are respectively arranged on the lower surface and the upper surface of the third beam corresponding to the central line position of the end hole;
strain gauges R41 and R42 are respectively arranged on the lower surface and the upper surface of the fourth beam corresponding to the center line position of the head end hole; strain gauges R43 and R44 are respectively arranged on the lower surface and the upper surface of the fourth beam corresponding to the central line position of the end hole;
the strain gages R11, R12, R13 and R14, and the strain gages R21, R22, R23 and R24 are arranged along the X axial direction;
the strain gages R31, R32, R33 and R34, and the strain gages R31, R32, R33 and R34 are arranged along the Y axial direction;
a Wheatstone half-bridge circuit is respectively formed by the strain gauges R11 and R12, the strain gauges R13 and R14, the strain gauges R21 and R22, the strain gauges R23 and R24, the strain gauges R31 and R32, the strain gauges R33 and R34, the strain gauges R41 and R42 and the strain gauges R43 and R44, and detection signals U-shaped corresponding to one another are obtained11、U12、U21、U22、U31、U32、U41And U42A total of eight detection signals, U11And U12Detecting a signal for the first beam; u shape21And U22Detecting a signal for the second beam; u shape31And U32Detecting a signal for the third beam; u shape41And U42Detecting a signal for the fourth beam; and calculating and obtaining the magnitude of each acting force on the force measuring unit (1) by using the detection signal.
The measuring method of the gait sole pressure distribution of the invention is also characterized in that:
the head end of each supporting beam is 'T' to be connected with the circumferential beam, the supporting beam is vertical and flat fixed connection with the both ends of the circumferential beam at the head end, a pair of head end Z-direction through holes are symmetrically arranged at the both ends of the circumferential beam, the pair of head end Z-direction through holes are respectively a left end Z-direction through hole at the left end of the circumferential beam and a right end Z-direction through hole at the right end of the circumferential beam, and the circumferential beams are respectively:
a first circumferential beam located at a head end of the first beam;
a second circumferential beam located at a head end of the second beam;
a third circumferential beam located at a head end of the third beam;
a fourth circumferential beam located at a head end of the fourth beam;
a tail end Z-direction through hole is arranged at the tail end of each support beam; or a section of floating beam is arranged at the tail end of each supporting beam, the floating beam and the supporting beam are on the same straight line, and the width of the floating beam is smaller than that of the supporting beam to form a thin neck part of the supporting beam;
the foil gage also sets up on the circumference roof beam, corresponding to on each circumference roof beam right-hand member Z to through-hole position to circumference roof beam center is deviated right-hand member Z to through-hole center, branch outward surface and the internal surface at the circumference roof beam up, includes:
strain gauges R51 and R52 respectively on the outer and inner surfaces of the first circumferential beam;
strain gauges R53 and R54 provided on the outer surface and the inner surface of the second circumferential beam;
strain gauges R61 and R62 on the outer and inner surfaces of the third circumferential beam;
strain gages R63 and R64 on the outer and inner surfaces of the fourth circumferential beam;
the strain gauges R51, R52, R53 and R54 are arranged along the Y-axis direction; the strain gauges R61, R62, R63 and R64 are arranged in the X-axis direction.
The strain gauges R51, R52, R53 and R54 form a group of Wheatstone full-bridge circuits for detecting the acting force F in the X axial directionx；
The strain gauges R61, R62, R63 and R64 form another group of Wheatstone full-bridge circuits for detecting the acting force F in the Y axial directiony。
The measuring method of the gait sole pressure distribution of the invention is also characterized in that: force measurements were taken for a total of seven sole primary pressure application locations including the first phalanx area, the second to fifth phalanx area, the first metatarsal area, the second metatarsal area, the third to fifth phalanx area, the medial heel area, and the lateral heel area as follows:
if a force measuring unit is used to measure an acting force Fi，ci·Fi＝mi(ii) a Wherein c isiIs a constant, constant ciWith position co-ordinates (x) of the applied forcei,yi) And the selected detection signal is correlated, miAny detection signal on the support beam close to the position of the acting force;
if the force measuring unit is used for measuring the magnitude F of two acting forcesaAnd Fb(ii) a C, F ═ M; wherein C is a 2 x 2 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya) And (x)b,yb) And the selected detection signal is correlated; vector F ═ Fa，Fb)T(ii) a Selecting a detection signal from each of the two support beams close to the position of the acting force to form a vector M;
if the force measuring unit is used for measuring three acting forces Fa、FbAnd Fc(ii) a C, F ═ M; wherein C is a 3 x 3 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc)T(ii) a M is a vector formed by three detection signals in the eight detection signals, and at most one detection signal is selected for each support beam (3);
if the force measuring unit is used for measuring the four acting forces Fa、Fb、FcAnd Fd(ii) a C, F ═ M; wherein C is a 4 x 4 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc) And (x)d,yd) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd)T(ii) a M is a vector formed by four detection signals in the eight detection signals, and one detection signal is selected from each support beam;
if the force measuring unit is used for measuring five acting forces Fa、Fb、Fc、FdAnd Fe(ii) a C, F ═ M; wherein C is a 5 × 5 constant matrix, the constant matrix C and the position coordinate (x) of the applied forcea,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe)T(ii) a M is a vector formed by five detection signals in the eight detection signals, one detection signal is selected from two support beams in the front-back direction during walking, and three output signals are selected from the support beams in the left-right direction during walking;
if the force measuring unit is used for measuring six acting forces Fa、Fb、Fc、Fd、FeAnd Ff(ii) a C, F ═ M; wherein C is a 6 x 6 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) And (x)f,yf) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe，Ff)T(ii) a M is a vector formed by six detection signals in the eight detection signals, at least one output signal is selected from each support beam (3) in the front-back direction during walking, and at least three output signals are selected from two support beams in the left-right direction during walking;
if the force measuring unit is used for measuring seven acting forces Fa、Fb、Fc、Fd、Fe、FfAnd Fg(ii) a C, F ═ M; wherein C is a 7 × 7 constant matrix, the constant matrix C and the position coordinates of the acting force(xa,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye)、(xf,yf) And (x)g,yg) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe，Ff，Fg)T(ii) a M is a vector formed by seven detection signals in the eight output signals, three output signals are randomly selected from two support beams in the front-back direction during walking, and four output signals are selected from two support beams in the left-right direction during walking;
the magnitude of the force F on each measuring unit is: f ═ C-1M; the acting force of the areas belonging to the same main sole pressure acting position is combined into a main sole pressure, and gait measurement is realized according to the main sole pressure and the position.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention combines the visual sensor and the force sensor, and can accurately measure the distribution position and the size of the main pressure of the sole;
2. the invention can measure the size and direction of the tangential force borne by the flat plate, and the two mutually perpendicular tangential forces are separately measured, thereby having good anti-interference performance;
3. the invention has the advantages of high measurement sensitivity, simple structure of the measurement unit, low cost, good stability and long service life.
Drawings
FIG. 1 is a schematic view of a method for measuring the distribution of foot pressure during gait according to the invention;
FIG. 2 is a schematic view of a force measuring unit according to the present invention;
FIG. 3a is a schematic view of the position of a strain gage on the bottom surface of the force cell shown in FIG. 2;
FIG. 3b is a schematic view of the position of a strain gage on the top surface of the force cell of FIG. 2;
FIG. 4 is a schematic view of a second force measuring cell according to the present invention;
FIG. 5a is a schematic view of the position of a strain gage on the bottom surface of the force cell shown in FIG. 4;
FIG. 5b is a schematic view of the position of a strain gage on the top surface of the force cell of FIG. 4;
FIG. 6 is a schematic view of a third force cell according to the present invention;
FIG. 7a is a schematic view of the position of a strain gage on the bottom surface of the force cell shown in FIG. 6;
FIG. 7b is a schematic view of the position of a strain gage on the top surface of the force cell of FIG. 6;
reference numbers in the figures: 1, a force measuring unit; 2, flat plate; 3 supporting the beam; 4, double through holes; 5 pressure-acting position; 6, circumferential beams; 7, a Z-direction through hole is arranged at the head end; 8, a Z-direction through hole at the tail end; 9 floating beam; 1a first beam, 2a second beam, 3a third beam, 4a fourth beam, 1b first circumferential beam, 2b second circumferential beam, 3b third circumferential beam, 4b fourth circumferential beam.
Detailed Description
Referring to fig. 1, in the gait sole pressure distribution measuring method in the present embodiment, a vision sensor is combined with a gait measuring device, the vision sensor is used to obtain the position and shape of the sole, and the information of each main pressure acting position 5 of the sole is obtained; and detecting and obtaining the magnitude of each main pressure of the sole by using a gait measuring device.
The main pressure action positions 5 of the sole are respectively as follows: the phalange area has one pressure action position which is a first phalange area of the sole of the foot, or the phalange area has two pressure action positions which are the first phalange area of the sole of the foot and the second phalange area to the fifth phalange area of the sole of the foot respectively; the metatarsal region has two pressure acting positions which are respectively a first metatarsal region, a second metatarsal region to a fifth metatarsal region, or the metatarsal region has three pressure acting positions which are respectively the first metatarsal region, the second metatarsal region and the third metatarsal region to the fifth metatarsal region; the heel area has one pressure action position as the total heel area, or the heel area has two pressure action positions as the medial heel area and the lateral heel area.
In the embodiment, the gait measuring device is formed by a plurality of force measuring units 1 in an array distribution mode, each force measuring unit 1 has the same structure, and adjacent force measuring units 1 are close to each other but are not connected; during gait movement, one or more force measuring units 1 are simultaneously subjected to sole pressure, and the force measuring units 1 can be subjected to one to seven acting forces.
If the area of the sole of the foot where the main pressure acts 5 covers a plurality of force measuring cells 1 at the same time, it is assumed that each covered force measuring cell 1 is subjected to a force component, and the sum of the force components applied to each force measuring cell 1 is unchanged.
Order: the forces F to be measured on the force cell 1 are: f ═ F1,…,Fi)T，i＝1,…,7，FiThe output signal M of the force-measuring cell 1 is (u) for the magnitude of the force acting on the force-measuring cell 11,…,ui)TEstablishing a mathematical model of the output signal and the acting force of the force measuring unit 1: c · F ═ M, where C is the i × i coefficient matrix obtained by calibrating the force cell; deducing the magnitude F ═ C of each acting force on the force measuring unit 1 according to a mathematical model-1·M。
The areas of certain main sole pressure action positions 5 are simultaneously covered with a plurality of force measuring units 1, and the component forces of the areas belonging to the same main sole pressure action position 5 are summed to obtain the sole pressure.
As shown in fig. 2, 4 and 6, the force measuring unit 1 in this embodiment is composed of a flat plate 2 and four support beams 3 with the same structure, wherein the four support beams 3 are a first beam 1a, a second beam 2a, a third beam 3a and a fourth beam 4 a; the four supporting beams 3 are in cross symmetry about the center of the flat plate 2, the head ends of the supporting beams 3 are vertically and fixedly connected with the flat plate 2, and the tail ends of the supporting beams 3 are fixed ends; arranging strain gauges on the support beam 3, and calculating the stress magnitude and distribution on the flat plate 2 according to detection signals of the strain gauges; a three-dimensional coordinate system is established on the force measuring unit, the center of the bottom surface of the flat plate 2 is taken as the origin of coordinates, the first beam 1a and the second beam 2a are positioned in the X-axis direction, the third beam 3a and the fourth beam 4a are positioned in the Y-axis direction, and the Z-axis direction is taken along the thickness direction of the flat plate 2.
As shown in fig. 3a and 3b, in the present embodiment, double through holes 4 are provided in the first beam 1a and the second beam 2a in the Y-axis direction, and double through holes 4 are provided in the third beam 3a and the fourth beam 4a in the X-axis direction; the double through holes 4 are two single through holes which are parallel to each other and are communicated with each other, and the two single through holes are respectively a head end hole close to the head end of the supporting beam and a tail end hole close to the tail end of the supporting beam; the strain gauges provided on the support beam 3 are the lower and upper surfaces of the support beam at positions corresponding to the center lines of the head-end hole and the tail-end hole, respectively, and include:
strain gauges R11 and R12 are respectively arranged on the lower surface and the upper surface of the first beam 1a corresponding to the center line position of the head end hole; strain gauges R13 and R14 are provided on the first beam 1a corresponding to the position of the center line of the end hole on the lower surface and the upper surface of the first beam, respectively;
strain gauges R21 and R22 are provided on the second beam 2a on the lower surface and the upper surface thereof, respectively, corresponding to the position of the center line of the head end hole; strain gauges R23 and R24 are provided on the second beam 2a corresponding to the position of the center line of the end hole on the lower surface and the upper surface of the second beam, respectively;
strain gauges R31 and R32 are provided on the third beam 3a on the lower surface and the upper surface thereof, respectively, corresponding to the position of the center line of the head end hole; strain gauges R33 and R34 are provided on the third beam 3a at the lower surface and the upper surface thereof, respectively, corresponding to the position of the center line of the end hole;
strain gauges R41 and R42 are provided on the fourth beam 4a on the lower surface and the upper surface thereof, respectively, corresponding to the position of the center line of the head end hole; strain gauges R43 and R44 are provided on the fourth beam 4a at the lower surface and the upper surface thereof, respectively, corresponding to the position of the center line of the end hole;
the strain gauges R11, R12, R13 and R14, and the strain gauges R21, R22, R23 and R24 are disposed in the X-axis direction;
the strain gauges R31, R32, R33, and R34, and the strain gauges R31, R32, R33, and R34 are disposed in the Y-axis direction;
a Wheatstone half-bridge circuit is respectively formed by strain gauges R11 and R12, strain gauges R13 and R14, strain gauges R21 and R22, strain gauges R23 and R24, strain gauges R31 and R32, strain gauges R33 and R34, strain gauges R41 and R42 and strain gauges R43 and R44, and detection signals which are obtained in a one-to-one correspondence mode are U-shaped detection signals11、U12、U21、U22、U31、U32、U41And U42A total of eight detection signals, U11And U12Detecting a signal for the first beam; u shape21And U22Detecting a signal for the second beam; u shape31And U32Detecting a signal for the third beam; u shape41And U42Detecting a signal for the fourth beam; and calculating and obtaining the magnitude of each acting force on the force measuring unit 1 by using the detection signals.
As shown in fig. 4 and fig. 6, a circumferential beam 6 may be connected to the head end of each support beam 3 in a "T", the support beam 3 is vertically fixedly connected to the flat plate 2 at the head end with both ends of the circumferential beam 6, a pair of head end Z-direction through holes 7 are symmetrically disposed at both ends of the circumferential beam 6, the pair of head end Z-direction through holes 7 are a left end Z-direction through hole located at the left end of the circumferential beam and a right end Z-direction through hole located at the right end of the circumferential beam, and the circumferential beams are respectively:
a first circumferential beam 1b located at the head end of the first beam 1 a;
a second circumferential beam 2b located at a head end of the second beam 2 a;
a third circumferential beam 3b located at the head end of the third beam 3 a;
a fourth circumferential beam 4b located at a head end of the fourth beam 4 a;
FIG. 4 shows a Z-direction through hole 8 formed at the end of each support beam 3; fig. 6 shows that a section of floating beam 9 is arranged at the end of each supporting beam 3, the floating beam 9 is in the same line with the supporting beam 3, and the width of the floating beam 9 is smaller than that of the supporting beam 3, so as to form a thin neck part of the supporting beam 3.
The strain gauges are also provided on the circumferential beams 6 corresponding to the positions of the Z-direction through holes at the right end on each circumferential beam, and are offset from the center of the Z-direction through hole at the right end toward the center of the upper circumferential beam, respectively on the outer surface and the inner surface of the circumferential beam 6, including as shown in fig. 5a and 5b, and fig. 7a and 7 b:
strain gauges R51 and R52 provided on the outer surface and the inner surface of the first circumferential beam 1 b;
strain gauges R53 and R54 provided on the outer surface and the inner surface of the second circumferential beam 2 b;
strain gauges R61 and R62 provided on the outer surface and the inner surface of the third circumferential beam 3 b;
strain gauges R63 and R64 provided on the outer surface and the inner surface of the fourth circumferential beam 4 b;
the strain gauges R51, R52, R53 and R54 are arranged along the Y-axis direction; the strain gauges R61, R62, R63, and R64 are disposed in the X-axis direction.
A group of Wheatstone full-bridge circuits are formed by strain gauges R51, R52, R53 and R54 and are used for detecting acting force F in the X axial directionx(ii) a The other group of Wheatstone full-bridge circuits consists of strain gauges R61, R62, R63 and R64 and is used for detecting the acting force F in the Y-axis directiony。
The force measurement is carried out for a total of seven plantar primary pressure application sites 5, including the first phalanx area, the second to fifth phalanx area, the first metatarsal area, the second metatarsal area, the third to fifth phalanx area, the medial heel area and the lateral heel area, as follows:
if a force magnitude F is measured by the force-measuring cell 1i，ci·Fi＝mi(ii) a Wherein c isiIs a constant, constant ciWith position co-ordinates (x) of the applied forcei,yi) And the selected detection signal is correlated, miThe signal is detected for any one of the support beams 3 near the position of the applied force.
If the force measuring unit 1 is used to measure two acting forces FaAnd Fb(ii) a C, F ═ M; wherein C is a 2 x 2 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya) And (x)b,yb) And the selected detection signal is correlated; vector F ═ Fa，Fb)T(ii) a And selecting a detection signal from each of the two support beams 3 close to the acting force position to form a vector M.
If the force measuring unit 1 is used for measuring three acting forces Fa、FbAnd Fc(ii) a C, F ═ M; wherein C is a 3 x 3 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc)T(ii) a M is a vector composed of three of the eight detection signals, and one detection signal is selected for each support beam 3 at most.
If the force measuring unit 1 is used for measuring four acting forces Fa、Fb、FcAnd Fd(ii) a C, F ═ M; wherein C is a 4 x 4 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc) And (x)d,yd) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd)T(ii) a M is a vector formed by four of the eight detection signals, and one detection signal is selected from each support beam 3.
If the force measuring unit 1 is used for measuring five acting forces Fa、Fb、Fc、FdAnd Fe(ii) a C, F ═ M; wherein C is a 5 × 5 constant matrix, the constant matrix C and the position coordinate (x) of the applied forcea,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe)T(ii) a M is a vector formed by five detection signals in the eight detection signals, one detection signal is selected from two supporting beams (3) in the front-back direction during walking, and three output signals are selected from the supporting beams (3) in the left-right direction during walking.
If the force measuring unit 1 is used for measuring six acting forces Fa、Fb、Fc、Fd、FeAnd Ff(ii) a C, F ═ M; wherein C is a 6 x 6 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) And (x)f,yf) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe，Ff)T(ii) a M is a vector composed of six detection signals of the eight detection signals, and each of the detection signals in the front-back direction during walkingAt least one output signal is selected from the support beams 3, and at least three output signals are selected from the two support beams 3 in the left and right directions during walking.
If the force measuring unit 1 is used for measuring seven acting forces Fa、Fb、Fc、Fd、Fe、FfAnd Fg(ii) a C, F ═ M; wherein C is a 7 × 7 constant matrix, the constant matrix C and the position coordinate (x) of the applied forcea,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye)、(xf,yf) And (x)g,yg) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe，Ff，Fg)T(ii) a M is a vector composed of seven detection signals among the eight output signals, three output signals are arbitrarily selected from the two support beams 3 in the front-rear direction during walking, and four output signals are selected from the two support beams 3 in the left-right direction during walking.
The magnitude of the force F on each measuring cell 1 is then: f ═ C-1M; the acting force of the areas belonging to the same sole main pressure acting position 5 is combined into a sole main pressure, and gait measurement is realized according to the magnitude and the position of each sole main pressure.
The invention is composed of a plurality of force measuring units arranged in an array, and each force measuring unit can measure a plurality of pressures, thereby improving the precision, having lower cost and measuring the tangential force. The invention can be used for detecting the pressure conditions of human gait and all parts of the sole, and has important functions for correcting the foot shape of children, detecting the rehabilitation degree of a step patient, finding the most effective motion mode of athletes and the like.
Claims (3)
1. A gait sole pressure distribution measuring method is characterized in that: combining a vision sensor with a gait measuring device, acquiring the positions and the shapes of the soles by using the vision sensor, and acquiring the information of each main pressure action position (5) of the soles; detecting and obtaining the magnitude of each main pressure of the sole by using a gait measuring device;
the main pressure action positions (5) of the sole are respectively as follows: the phalange area has one pressure action position which is a first phalange area of the sole of the foot, or the phalange area has two pressure action positions which are the first phalange area of the sole of the foot and the second phalange area to the fifth phalange area of the sole of the foot respectively; the metatarsal region has two pressure acting positions which are respectively a first metatarsal region, a second metatarsal region to a fifth metatarsal region, or the metatarsal region has three pressure acting positions which are respectively the first metatarsal region, the second metatarsal region and the third metatarsal region to the fifth metatarsal region; the heel area has one pressure action position which is a heel total area, or the heel area has two pressure action positions which are a heel inner side area and a heel outer side area respectively;
the gait measuring device is formed by a plurality of force measuring units (1) in an array distribution mode, each force measuring unit (1) is identical in structure, and adjacent force measuring units (1) are close to each other but are not connected; during gait movement, one or more force measuring units (1) are simultaneously subjected to sole pressure, and the force measuring units (1) can be subjected to one to seven acting forces; if the area of the main pressure action position (5) of the sole covers a plurality of force measuring units (1) at the same time, each covered force measuring unit (1) is considered to be subjected to a component force, and the sum of the component forces of each force measuring unit (1) is unchanged;
the force measuring unit (1) is composed of a flat plate (2) and four supporting beams (3) with the same structure, wherein the four supporting beams (3) are respectively a first beam (1a), a second beam (2a), a third beam (3a) and a fourth beam (4 a); the four supporting beams (3) are in cross symmetry about the center of the flat plate (2), the head ends of the supporting beams (3) are vertically and fixedly connected with the flat plate (2), and the tail ends of the supporting beams (3) are fixed ends; strain gauges are arranged on the supporting beam (3), and the magnitude and distribution of the force borne on the flat plate (2) are calculated and obtained according to detection signals of the strain gauges; establishing a three-dimensional coordinate system on the force measuring unit, wherein the center of the bottom surface of the flat plate (2) is taken as the origin of coordinates, the first beam (1a) and the second beam (2a) are positioned in the X-axis direction, the third beam (3a) and the fourth beam (4a) are positioned in the Y-axis direction, and the thickness direction along the flat plate (2) is the Z-axis direction;
double through holes (4) are formed in the first beam (1a) and the second beam (2a) along the Y-axis direction, and double through holes (4) are formed in the third beam (3a) and the fourth beam (4a) along the X-axis direction; the double through holes (4) are two single through holes which are parallel to each other and communicated with each other, and the two single through holes are a head end hole close to the head end of the supporting beam and a tail end hole close to the tail end of the supporting beam respectively; the strain gage arranged on the support beam (3) is positioned on the lower surface and the upper surface of the support beam at the position corresponding to the center line of the head end hole and the tail end hole, and comprises: strain gauges R11 and R12 are respectively arranged on the lower surface and the upper surface of the first beam (1a) corresponding to the center line position of the head end hole; strain gauges R13 and R14 are provided on the first beam (1a) corresponding to the position of the center line of the end hole on the lower surface and the upper surface of the first beam, respectively; strain gauges R21 and R22 are respectively arranged on the lower surface and the upper surface of the second beam (2a) corresponding to the center line position of the head end hole; strain gauges R23 and R24 are provided on the second beam (2a) corresponding to the position of the center line of the end hole on the lower surface and the upper surface of the second beam, respectively; strain gauges R31 and R32 are respectively arranged on the lower surface and the upper surface of the third beam (3a) corresponding to the center line position of the head end hole; strain gauges R33 and R34 are provided on the third beam (3a) on the lower surface and the upper surface thereof, respectively, corresponding to the position of the center line of the end hole; strain gauges R41 and R42 are respectively arranged on the lower surface and the upper surface of the fourth beam (4a) corresponding to the center line position of the head end hole; strain gauges R43 and R44 are provided on the fourth beam (4a) on the lower surface and the upper surface thereof, respectively, corresponding to the position of the center line of the end hole;
the strain gages R11, R12, R13 and R14, and the strain gages R21, R22, R23 and R24 are arranged along the X axial direction; the strain gages R31, R32, R33 and R34, and the strain gages R31, R32, R33 and R34 are arranged along the Y axial direction; a Wheatstone half-bridge circuit is respectively formed by the strain gauges R11 and R12, the strain gauges R13 and R14, the strain gauges R21 and R22, the strain gauges R23 and R24, the strain gauges R31 and R32, the strain gauges R33 and R34, the strain gauges R41 and R42 and the strain gauges R43 and R44, and detection signals U-shaped corresponding to one another are obtained11、U12、U21、U22、U31、U32、U41And U42A total of eight detection signals, U11And U12Detecting a signal for the first beam; u shape21And U22Detecting a signal for the second beam; u shape31And U32Detecting a signal for the third beam; u shape41And U42Detecting a signal for the fourth beam; and calculating and obtaining the magnitude of each acting force on the force measuring unit (1) by using the detection signal.
2. The gait plantar pressure distribution measuring method according to claim 1, characterized in that: be "T" at the head end of each supporting beam (3) and connect circumference roof beam (6), supporting beam (3) are vertical and dull and stereotyped (2) fixed connection with the both ends of circumference roof beam (6) at the head end the both ends symmetry of circumference roof beam (6) sets up a pair of head end Z to through-hole (7), a pair of head end Z is that left end Z at circumference roof beam left end is divided to the through-hole and the branch divides the right-hand member Z at circumference roof beam right-hand member to the through-hole, the circumference roof beam is respectively: a first circumferential beam (1b) located at the head end of the first beam (1 a); a second circumferential beam (2b) located at the head end of the second beam (2 a); a third circumferential beam (3b) located at the head end of the third beam (3 a); a fourth circumferential beam (4b) located at the head end of the fourth beam (4 a); a tail end Z-direction through hole (8) is arranged at the tail end of each support beam (3); or a section of floating beam (9) is arranged at the tail end of each supporting beam (3), the floating beam (9) and the supporting beam (3) are on the same straight line, and the width of the floating beam (9) is smaller than that of the supporting beam (3) to form a thin neck part of the supporting beam (3);
the foil gage also sets up on circumference roof beam (6), corresponds to on each circumference roof beam right-hand member Z to through-hole position to circumference roof beam center is deviated right-hand member Z to through-hole center, branch at the surface and the internal surface of circumference roof beam (6) up, includes: strain gauges R51 and R52 on the outer and inner surfaces of the first circumferential beam (1 b); strain gauges R53 and R54 on the outer and inner surfaces of the second circumferential beam (2 b); strain gauges R61 and R62 on the outer and inner surfaces of the third circumferential beam (3 b); strain gauges R63 and R64 respectively on the outer and inner surfaces of the fourth circumferential beam (4 b); the strain gauges R51, R52, R53 and R54 are arranged along the Y-axis direction; the strain gauges R61, R62, R63 and R64 are arranged along the X axial direction; the strain gauges R51, R52, R53 and R54 form a group of Wheatstone full-bridge circuits for detectingMeasuring X-axial force Fx(ii) a The strain gauges R61, R62, R63 and R64 form another group of Wheatstone full-bridge circuits for detecting the acting force F in the Y axial directiony。
3. The gait plantar pressure distribution measuring method according to claim 2, characterized in that: the force measurement is carried out for a total of seven sole main pressure application positions (5) including a first phalanx area, a second to a fifth phalanx area, a first metatarsal area, a second metatarsal area, a third to a fifth phalanx area, a medial heel area and a lateral heel area in the following manner:
if a force measuring unit (1) is used to measure an acting force Fi，ci·Fi＝mi(ii) a Wherein c isiIs a constant, constant ciWith position co-ordinates (x) of the applied forcei,yi) And the selected detection signal is correlated, miDetecting a signal for any one of the support beams (3) close to the position of the acting force;
if the force measuring unit (1) is used for measuring the magnitude F of two acting forcesaAnd Fb(ii) a C, F ═ M; wherein C is a 2 x 2 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya) And (x)b,yb) And the selected detection signal is correlated; vector F ═ Fa，Fb)T(ii) a Selecting a detection signal from each of the two support beams (3) close to the position of the acting force to form a vector M;
if the force measuring unit (1) is used for measuring three acting forces Fa、FbAnd Fc(ii) a C, F ═ M; wherein C is a 3 x 3 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc)T(ii) a M is a vector formed by three detection signals in the eight detection signals, and at most one detection signal is selected for each support beam (3);
if the force measuring unit (1) is used for measuring the four acting forces Fa、Fb、FcAnd Fd(ii) a C, F ═ M; wherein C is a 4 x 4 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc) And (x)d,yd) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd)T(ii) a M is a vector formed by four detection signals in the eight detection signals, and one detection signal is selected from each support beam (3);
if the force measuring unit (1) is used for measuring five acting forces Fa、Fb、Fc、FdAnd Fe(ii) a C, F ═ M; wherein C is a 5 × 5 constant matrix, the constant matrix C and the position coordinate (x) of the applied forcea,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe)T(ii) a M is a vector formed by five detection signals in the eight detection signals, one detection signal is selected from two supporting beams (3) in the front-back direction during walking, and three output signals are selected from the supporting beams (3) in the left-right direction during walking;
if the force measuring unit (1) is used for measuring six acting forces Fa、Fb、Fc、Fd、FeAnd Ff(ii) a C, F ═ M; wherein C is a 6 x 6 constant matrix, the constant matrix C and the position coordinate (x) of the acting forcea,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye) And (x)f,yf) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe，Ff)T(ii) a M is a vector formed by six detection signals in the eight detection signals, at least one output signal is selected from each support beam (3) in the front-back direction during walking, and at least one output signal is selected from two support beams (3) in the left-right direction during walkingTaking three output signals;
if the force measuring unit (1) is used for measuring seven acting forces Fa、Fb、Fc、Fd、Fe、FfAnd Fg(ii) a C, F ═ M; wherein C is a 7 × 7 constant matrix, the constant matrix C and the position coordinate (x) of the applied forcea,ya)、(xb,yb)、(xc,yc)、(xd,yd)、(xe,ye)、(xf,yf) And (x)g,yg) And the selected detection signal is correlated; vector F ═ Fa，Fb，Fc，Fd，Fe，Ff，Fg)T(ii) a M is a vector formed by seven detection signals in the eight output signals, three output signals are randomly selected from two supporting beams (3) in the front-back direction during walking, and four output signals are selected from two supporting beams (3) in the left-right direction during walking;
the magnitude of the force F on each measuring unit (1) is then: f ═ C-1M; the acting force of the areas belonging to the same sole main pressure acting position (5) is combined into a sole main pressure, and gait measurement is realized according to the magnitude and the position of each sole main pressure.
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