CN107334212A - Measure method, method for establishing model and the Intelligent insole of sole pressure center track - Google Patents
Measure method, method for establishing model and the Intelligent insole of sole pressure center track Download PDFInfo
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- CN107334212A CN107334212A CN201710681987.1A CN201710681987A CN107334212A CN 107334212 A CN107334212 A CN 107334212A CN 201710681987 A CN201710681987 A CN 201710681987A CN 107334212 A CN107334212 A CN 107334212A
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B17/00—Insoles for insertion, e.g. footbeds or inlays, for attachment to the shoe after the upper has been joined
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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
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—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
- A61B5/1116—Determining posture transitions
- A61B5/1117—Fall detection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6804—Garments; Clothes
- A61B5/6807—Footwear
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B2503/00—Evaluating a particular growth phase or type of persons or animals
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Abstract
The invention provides one kind measurement sole pressure center track approach, method for establishing model and Intelligent insole; measure force-sensing sensor measurement electric signal of the sole pressure center track approach using low cost; then sole pressure center position is calculated by nonlinear regression model (NLRM) so that sole pressure center track is accurately measured under the conditions of low cost and is realized.And in method for establishing model, test by Intelligent insole on testboard, obtain the model parameter needed for nonlinear regression model (NLRM).Compared with the high Intelligent insole of existing precision, sole pressure center track is measured using the Intelligent insole of the present invention, precision is very approximate, but cost is greatly lowered.
Description
Technical field
The present invention relates to Intelligent worn device field, especially relates to a kind of side for measuring sole pressure center track
Method, method for establishing model and Intelligent insole.
Background technology
Tumble is to trigger the principal element of the generation health risk of the elderly.Age, the elderly more than 65 years old occurred every year
The probability of tumble is up to 28%~33%.Tumble problem not only easily causes the elderly and produces serious physical injury and psychological shadow
Ring, the elderly is lost autonomous viability, or even trigger death by accident.In China, caused by tumble accident is annual directly or
Indirect economic loss is up to 252~100,000,000,000 yuan.
Tumble accident occurs in order to reduce the elderly, scientists propose many fall prevention measures.Wherein, tumble wind
It is considered as a kind of effective fall prevention measure that danger, which is assessed,.Fall risk assess can help to judge easily to fall it is high-risk
Crowd, so as to formulate more targetedly, the intervention stratege of effective anti-tumble.
Fall risk is assessed and often relies on specific biomechanical parameter, and these parameters are also referred to as fall risk and sentenced
Determine index.Wherein, attitude stability is that a kind of particularly important fall risk judges index.Existing research confirms attitude stabilization
Correlation of the property with fall risk.And sole pressure center track is an important parameter that can reflect attitude stability.Therefore,
The fall risk that sole pressure center track is commonly used for the elderly is assessed.
The method of traditional measurement sole pressure center track depends on ergograph or pressure flat.In an allusion quotation
In the biomechanics experiment equipment of type, ergograph is generally embedded under a travelling platform.However, moveable ergograph or
It is pressure flat, due to the limitation on Existential Space, is only applicable to experiment and uses.
In recent years, there are much foot pressure measuring systems based on shoe-pad, such as Tekscan Co., Ltds of the U.S. open
The F-scan measuring systems of hair, Novel Pedar systems of Novel Co., Ltds exploitation etc..These shoe-pad systems can capture foot
The information of bottom pressure distribution, and accurately calculate sole pressure center track, while they can be used in environment out of doors, had
There is high application value.However, the price of these system equipments is generally too high.F-scan and Pedar systems above-mentioned
Price from 10,000 dollars to 20,000 dollars.
Recent years, the research of the Intelligent insole of the force-sensing sensor based on low cost receive very big concern.These
Intelligent insole employs different force-sensing sensor technologies, such as force sensing resistance (FSR), fabric or textile pressure sensing array and
Piezoelectricity force-sensing sensor etc., the quantity of the force-sensing sensor of use is also different, and its scope is from 4 FSR to 64 force-sensing sensors
Array.
The measurement accuracy of the existing Intelligent insole that sole pressure center track is calculated using inexpensive force-sensing sensor compared with
Difference.Reason is to use weighted average estimation algorithm.Weighted average estimation algorithm is the pressure by being detected to each force-sensing sensor
It is weighted average computation.Wherein, weighted factor (coefficient) is determined by predefined sensor coordinates.However, due to not
Difference on the material character of the force-sensing sensor of same type in itself, and the force-sensing sensor quantity and placement location chosen
Difference, cause when being calculated using single weighted average estimation algorithm, the estimation to sole pressure center track has larger mistake
Difference.
The content of the invention
The main object of the present invention is a kind of method, method for establishing model and intelligence for measuring sole pressure center track of offer
Energy shoe-pad, the cost of Intelligent insole is reduced while plantar pressure measurement accuracy is ensured.
The invention provides one kind to measure sole pressure center track approach, comprises the following steps：
The electric signal of each force-sensing sensor in Intelligent insole is measured, the Intelligent insole includes multiple force-sensing sensors；
In nonlinear regression model (NLRM), according to the electric signal, coordinate and model coefficient of each force-sensing sensor, vola is calculated
Center of Pressure coordinate.
Preferably, the electric signal is voltage output value.
Preferably, the sole pressure center coordinate includes abscissa X and ordinate Y, is tried to achieve respectively by following formula：
In above formula, n represents the number of force-sensing sensor,Represent the model coefficient of i-th of sensor abscissa, xiRepresent
The abscissa of i-th of force-sensing sensor, ViThe electric signal of i-th of force-sensing sensor is represented,Represent the correction system of abscissa
Number；Represent the model coefficient of i-th of sensor ordinate, yiThe ordinate of i-th of force-sensing sensor is represented,Represent
The correction coefficient of ordinate.
Preferably, the value of the n is 12.
Present invention also offers a kind of method for establishing model, for measuring sole pressure center track, comprises the following steps：
The sensor coordinates in Intelligent insole are measured, are designated as (xi, yi), the Intelligent insole includes multiple force-sensing sensors,
xiRepresent the abscissa of i-th of force-sensing sensor, yiRepresent the ordinate of i-th of force-sensing sensor；
Using the Intelligent insole ergograph carry out simulated test, obtain multigroup sole pressure center coordinate and and its
Corresponding multiple electric signals, the sole pressure center coordinate are measured by the ergograph, and the electric signal is respectively by each power
Dependent sensor measures, and the sole pressure center coordinate includes sole pressure center abscissa and sole pressure center ordinate；
Establish nonlinear regression model (NLRM) in X-direction and Y-direction respectively, the nonlinear regression model (NLRM) of the X-direction include with
Lower parameter：Sole pressure center abscissa, sensor abscissa, electric signal；The nonlinear regression model (NLRM) of the Y-direction include with
Lower parameter：Plantar pressure indulges centre coordinate, sensor ordinate, electric signal；By least square method to the nonlinear regression
Model is fitted, and calculates model coefficient of each force-sensing sensor in X-direction and Y-direction.
Preferably, the electric signal is voltage output value.
Preferably, the nonlinear regression model (NLRM) of the X-direction and Y-direction can be represented by below equation respectively：
In above formula, n represents the number of force-sensing sensor,Represent the model coefficient of i-th of sensor abscissa, xiRepresent
The abscissa of i-th of force-sensing sensor, ViThe electric signal of i-th of force-sensing sensor is represented,Represent the correction system of abscissa
Number；Represent the model coefficient of i-th of sensor ordinate, yiThe ordinate of i-th of force-sensing sensor is represented,Represent
The correction coefficient of ordinate.
Preferably, the value of the n is 12.
Present invention also offers a kind of Intelligent insole, including insole body, processor and multiple force-sensing sensors, the place
Reason device, force-sensing sensor are embedded in the insole body, and the processor is used to perform the measurement described in above-mentioned any one
Sole pressure center track approach.
Preferably, the thickness of the force-sensing sensor is 0.2~0.5mm, a diameter of 8-15mm.
The invention provides one kind measurement sole pressure center track approach, method for establishing model and Intelligent insole, measurement
Then sole pressure center track approach passes through nonlinear regression model (NLRM) meter using the force-sensing sensor measurement electric signal of low cost
Calculate sole pressure center position so that sole pressure center track is accurately measured under the conditions of low cost and is realized.And
In method for establishing model, test by Intelligent insole on testboard, obtain the model needed for nonlinear regression model (NLRM)
Parameter.Compared with the high Intelligent insole of existing precision, sole pressure center track, precision are measured using the Intelligent insole of the present invention
It is very approximate, but cost is greatly lowered.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the embodiment of present invention measurement sole pressure center track approach one；
Fig. 2 is the riding position signal of the embodiment force-sensing sensor of present invention measurement sole pressure center track approach one
Figure；
Fig. 3 is the model coefficient and standard deviation that the embodiment test of present invention measurement sole pressure center track approach one obtains
The table of comparisons；
Fig. 4 surveys sole pressure center track and actual rail for the embodiment of present invention measurement sole pressure center track approach one
The contrast reference picture of mark；
Fig. 5 is the schematic flow sheet of the embodiment of method for establishing model one of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Reference picture 1, the invention provides one kind to measure sole pressure center track approach, comprises the following steps：
The electric signal of each force-sensing sensor, the Intelligent insole include the quick sensing of multiple power on S10, measurement Intelligent insole
Device；
S20, in nonlinear regression model (NLRM), according to the electric signal, coordinate and model coefficient of each force-sensing sensor, calculate
Sole pressure center coordinate.
In step S10, force-sensing sensor can be set in the way of Fig. 2 in Intelligent insole.Numeral in Fig. 2 represents sensing
The numbering of device.By taking the present embodiment as an example, the number of force-sensing sensor is 12.Force-sensing sensor is shaped as disk.Each power is quick
Sensor all has corresponding coordinate in coordinate system.Force-sensing sensor is primarily to the pressure that each position of measurement shoe-pad is subject to.People
Body caused pressure in Intelligent insole is converted into electric signal on force-sensing sensor, and this electric signal is usually magnitude of voltage.
, can be following after the electric signal, coordinate and model coefficient of each force-sensing sensor is got in step S20
Sole pressure center coordinate is calculated in nonlinear regression model (NLRM), sole pressure center coordinate includes abscissa X and ordinate Y, has
Body is：
In above formula, n represents the number of force-sensing sensor,Represent the model coefficient of i-th of sensor abscissa, xiRepresent
The abscissa of i-th of force-sensing sensor, ViThe electric signal of i-th of force-sensing sensor is represented,Represent the correction system of abscissa
Number；Represent the model coefficient of i-th of sensor ordinate, yiThe ordinate of i-th of force-sensing sensor is represented,Represent
The correction coefficient of ordinate.
Model coefficient in nonlinear regression model (NLRM) is obtained in model test test process.Specific test process can be with
With reference to the embodiment of following method for establishing model.Reference picture 3, Fig. 3 are one group of model coefficients obtained after tested, and Est is
Model coefficient, Std are the standard deviation of model coefficient.
Reference picture 4, the embodiment of the present invention are also verified to the measuring accuracy of above-mentioned low cost intelligent shoe-pad.In figure
Solid line is represented using high-precision shoe-pad test result, is designated as actual path, and dotted line represents the Intelligent insole test knot of the present embodiment
Fruit.Root-mean-square error (RMSE) between the sole pressure center track of Intelligent insole of embodiment of the present invention estimation and actual path
It is 1.74mm and 2.05mm in X and Y direction, relative coefficient is respectively 0.97 and 0.93.As a result show, use this
The Intelligent insole of inventive embodiments, measure precision closely high-precision shoe-pad, and cost greatly declines.
Reference picture 5, the embodiment of the present invention additionally provide a kind of method for establishing model, for measuring sole pressure center rail
Mark, comprise the following steps：
Sensor coordinates on S01, measurement Intelligent insole, are designated as (xi, yi), the Intelligent insole includes the quick biography of multiple power
Sensor, xiRepresent the abscissa of i-th of force-sensing sensor, yiRepresent the ordinate of i-th of force-sensing sensor；
S02, using the Intelligent insole ergograph carry out simulated test, obtain multigroup sole pressure center coordinate and
Corresponding multiple electric signals, the sole pressure center coordinate are measured by the ergograph, and the electric signal is respectively by each
Individual force-sensing sensor measures, and the sole pressure center coordinate includes sole pressure center abscissa and the vertical seat of sole pressure center
Mark；
S03, establish nonlinear regression model (NLRM), the nonlinear regression model (NLRM) bag of the X-direction in X-direction and Y-direction respectively
Include following parameter：Sole pressure center abscissa, sensor abscissa, electric signal；The nonlinear regression model (NLRM) bag of the Y-direction
Include following parameter：Plantar pressure indulges centre coordinate, sensor ordinate, electric signal；By least square method to described non-linear
Regression model is fitted, and calculates model coefficient of each force-sensing sensor in X-direction and Y-direction.
In the present embodiment, the calculating of the test process and model coefficient of nonlinear regression model (NLRM) is related generally to.
First, in step S01, the Intelligent insole first tested needs measures, and determines the position of each force-sensing sensor
Put.Reference picture 2, the position of force-sensing sensor can be represented with the point of plane right-angle coordinate, is designated as sensor coordinates.
Test process in step S02 includes：Recruit the experimenter, it is desirable to which the experimenter wears above-mentioned Intelligent insole, completes
Stand, stand up and sit down, a series of everyday actions such as walking, and record data.The data include the vola at each measurement moment
The electric signal that Center of Pressure coordinate, each force-sensing sensor measure.Force-sensing sensor can use force-sensing sensor.Human body is in intelligence
Caused pressure is converted into electric signal on force-sensing sensor on shoe-pad, and this electric signal is usually magnitude of voltage.With the present embodiment
Exemplified by, the number of force-sensing sensor is 12.Force-sensing sensor is shaped as disk.Each force-sensing sensor has pair in coordinate system
The coordinate answered.
In step S03, the nonlinear regression model (NLRM) such as following formula is established：
In above formula, n represents the number of force-sensing sensor,Represent the model coefficient of i-th of sensor abscissa, xiRepresent
The abscissa of i-th of force-sensing sensor, ViThe electric signal of i-th of force-sensing sensor is represented,Represent the correction system of abscissa
Number；Represent the model coefficient of i-th of sensor ordinate, yiThe ordinate of i-th of force-sensing sensor is represented,Represent
The correction coefficient of ordinate.
Then corresponding measurement data is substituted into, by least square method, the model coefficient in above formula is calculated
I value is 13.When i value is 1~12,For the model coefficient of force-sensing sensor, i 13,For correction
Coefficient.N of embodiment of the present invention value is 12.
Present invention also offers a kind of Intelligent insole, including insole body, processor and multiple force-sensing sensors, the place
Reason device, force-sensing sensor are embedded in the insole body, and the processor is used to perform the measurement described in above-mentioned any one
Sole pressure center track approach.
In the present embodiment, Intelligent insole proposed by the present invention includes insole body, processor and multiple force-sensing sensors.
12 integrated force-sensing sensors are included in insole body, the FSR402 force-sensing sensors of interlink companies can be used.Place
Mainly it is made up of in the integration module of ankle processor, bluetooth module and battery module.It is high that processor can use ARM companies to carry
The STM32 chips of performance Cortex-M3 kernels.The 5V poly-lithium batteries that battery is 600mAh are further provided with shoe-pad.Intelligence
The also built-in bluetooth module of shoe-pad, can use independently developed HC-06 bluetooth modules.
12 force-sensing sensors cover important foot force distributed areas, such as big toe, and articulationes metatarsophalangeae (MTP) closes
Section, the position such as the arch position of pin and heel.
The available dimensional thickness of force-sensing sensor of the present embodiment is 0.2~0.5mm, a diameter of 8-15mm.With this reality
Exemplified by applying example, each FSR402 has the 12.7 mm dia induction region made of glass fiber resin.Then connect
Onto a diameter of 18.1 millimeters of pedestals, this helps to make the power of application to be evenly distributed on its surface, and reduces force-sensing sensor
The possibility of saturation.
Each FSR 402 presses the method that manufacturer is recommended, and is connected respectively to Voltage to current transducer (V2C) circuit.Even
Connect wires by what is especially screened, thickness is about 0.4mm, so as to reduce the shadow of shoe-pad uneven surface to greatest extent
Ring.FSR resistance values are converted to backward voltage output by the V2C change-over circuits, then pass through 10 analog to digital (A2D) modules
Readable voltage output is converted into, is designated as Vi。
Processor in Intelligent insole receives the electric signal from force-sensing sensor, and loads its memory in shoe-pad
Sensor coordinates, nonlinear regression model (NLRM) and the model parameter of storage, perform the measurement plantar pressure described in above-mentioned any one
Centrode method, obtain sole pressure center track.The sole pressure center track can be sent to phase by bluetooth module
In the equipment answered, or read by computer system by data-interface.
The invention provides one kind measurement sole pressure center track approach, method for establishing model and Intelligent insole, measurement
Then sole pressure center track approach passes through nonlinear regression model (NLRM) meter using the force-sensing sensor measurement electric signal of low cost
Calculate sole pressure center position so that sole pressure center track is accurately measured under the conditions of low cost and is realized.And
In method for establishing model, test by Intelligent insole on testboard, obtain the model needed for nonlinear regression model (NLRM)
Parameter.Compared with the high Intelligent insole of existing precision, sole pressure center track, precision are measured using the Intelligent insole of the present invention
It is very approximate, but cost is greatly lowered.
Embodiments of the invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included within scope of the presently claimed invention.
Claims (10)
1. one kind measurement sole pressure center track approach, it is characterised in that comprise the following steps：
The electric signal of each force-sensing sensor in Intelligent insole is measured, the Intelligent insole includes multiple force-sensing sensors；
In nonlinear regression model (NLRM), according to the electric signal, coordinate and model coefficient of each force-sensing sensor, plantar pressure is calculated
Centre coordinate.
2. measurement sole pressure center track approach according to claim 1, it is characterised in that the electric signal is voltage
Output valve.
3. measurement sole pressure center track approach according to claim 1, it is characterised in that the sole pressure center
Coordinate includes abscissa X and ordinate Y, is tried to achieve respectively by following formula：
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In above formula, n represents the number of force-sensing sensor,Represent the model coefficient of i-th of sensor abscissa, xiRepresent i-th
The abscissa of individual force-sensing sensor, ViThe electric signal of i-th of force-sensing sensor is represented,Represent the correction coefficient of abscissa；Represent the model coefficient of i-th of sensor ordinate, yiThe ordinate of i-th of force-sensing sensor is represented,Represent vertical
The correction coefficient of coordinate.
4. measurement sole pressure center track approach according to claim 3, it is characterised in that the value of the n is 12.
A kind of 5. method for establishing model, for measuring sole pressure center track, it is characterised in that comprise the following steps：
The sensor coordinates in Intelligent insole are measured, are designated as (xi, yi), the Intelligent insole includes multiple force-sensing sensors, xiTable
Show the abscissa of i-th of force-sensing sensor, yiRepresent the ordinate of i-th of force-sensing sensor；
Simulated test is carried out in ergograph using the Intelligent insole, obtains multigroup sole pressure center coordinate and corresponding
Multiple electric signals, the sole pressure center coordinate measures by the ergograph, and the electric signal is respectively by the quick biography of each power
Sensor measures, and the sole pressure center coordinate includes sole pressure center abscissa and sole pressure center ordinate；
Nonlinear regression model (NLRM) is established in X-direction and Y-direction respectively, the nonlinear regression model (NLRM) of the X-direction includes following ginseng
Number：Sole pressure center abscissa, sensor abscissa, electric signal；The nonlinear regression model (NLRM) of the Y-direction includes following ginseng
Number：Plantar pressure indulges centre coordinate, sensor ordinate, electric signal；By least square method to the nonlinear regression model (NLRM)
It is fitted, calculates model coefficient of each force-sensing sensor in X-direction and Y-direction.
6. method for establishing model according to claim 5, it is characterised in that the electric signal is voltage output value.
7. method for establishing model according to claim 5, it is characterised in that the nonlinear regression of the X-direction and Y-direction
Model can be represented by below equation respectively：
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<msub>
<mi>V</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>+</mo>
<msubsup>
<mi>c</mi>
<mrow>
<mi>n</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
<mi>y</mi>
</msubsup>
</mrow>
In above formula, n represents the number of force-sensing sensor,Represent the model coefficient of i-th of sensor abscissa, xiRepresent i-th
The abscissa of individual force-sensing sensor, ViThe electric signal of i-th of force-sensing sensor is represented,Represent the correction coefficient of abscissa；Represent the model coefficient of i-th of sensor ordinate, yiThe ordinate of i-th of force-sensing sensor is represented,Represent vertical
The correction coefficient of coordinate.
8. method for establishing model according to claim 7, it is characterised in that the value of the n is 12.
A kind of 9. Intelligent insole, it is characterised in that including insole body, processor and multiple force-sensing sensors, the processor,
Force-sensing sensor is embedded in the insole body, and the processor is used for the survey described in perform claim 1~4 any one of requirement
Measure sole pressure center track approach.
10. Intelligent insole according to claim 9, it is characterised in that the thickness of the force-sensing sensor be 0.2~
0.5mm, a diameter of 8-15mm.
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