CN107334212B - Method for measuring plantar pressure center track, model establishing method and intelligent insole - Google Patents

Method for measuring plantar pressure center track, model establishing method and intelligent insole Download PDF

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CN107334212B
CN107334212B CN201710681987.1A CN201710681987A CN107334212B CN 107334212 B CN107334212 B CN 107334212B CN 201710681987 A CN201710681987 A CN 201710681987A CN 107334212 B CN107334212 B CN 107334212B
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胡新尧
彭东晟
曲行达
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Shenzhen University
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—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
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    • 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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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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Abstract

The invention provides a method for measuring the center trajectory of plantar pressure, a model establishing method and an intelligent insole. In the model establishing method, the intelligent insole is used for testing on the test bench to obtain model parameters required by the nonlinear regression model. Compared with the existing intelligent insole with high precision, the intelligent insole provided by the invention is used for measuring the center track of the pressure of the sole, the precision is very similar, but the cost is greatly reduced.

Description

Method for measuring plantar pressure center track, model establishing method and intelligent insole
Technical Field
The invention relates to the field of intelligent wearing equipment, in particular to a method for measuring a plantar pressure center track, a model establishing method and an intelligent insole.
Background
Falls are a major factor contributing to the health risks of the elderly. The probability of falling of the aged over 65 years old every year is as high as 28-33%. The problem of falling down not only easily causes serious physical injury and psychological influence on the old, but also causes the old to lose the ability of self-life and even causes death accidents. In China, the direct or indirect economic loss caused by the falling accidents is up to 252-1000 billion yuan each year.
In order to reduce the incidence of fall accidents in the elderly, many fall prevention measures have been proposed by scientists. Among them, fall risk assessment is considered as an effective fall prevention measure. The falling risk assessment can help to judge high-risk groups prone to fall, so that a more targeted and effective falling prevention intervention scheme is formulated.
Fall risk assessment typically relies on specific biomechanical parameters, also referred to as fall risk decision indices. Among them, the posture stability is an extremely important fall risk judgment index. Existing studies confirm the relevance of posture stability to fall risk. The plantar pressure center track is an important parameter capable of reflecting the posture stability. Therefore, the plantar center of pressure trajectory is often used for fall risk assessment in the elderly.
The traditional method for measuring the pressure center track of the sole mainly depends on a force measuring platform or a pressure flat plate. In a typical biomechanical testing apparatus, the force platform is typically embedded under a walking platform. However, movable force tables or pressure plates are only suitable for experimental use due to space limitations.
In recent years, a number of insole-based foot pressure measurement systems have been developed, such as the F-scan measurement system developed by Tekscan, Inc., USA, and the Novel pendant system developed by Novel, Inc. The insole systems can capture the information of the distribution of the pressure of the soles and accurately calculate the track of the center of the pressure of the soles, and meanwhile, the insole systems can be used in the outdoor environment and have extremely high application value. However, the price of these system devices is generally prohibitive. The prices for the above-mentioned F-scan and padar systems range from $ 1 ten thousand to $ 2 ten thousand.
In recent years, the research of intelligent insoles based on low-cost force-sensitive sensors has received great attention. These intelligent insoles employ different force sensitive sensor technologies such as Force Sensitive Resistors (FSRs), fabric or textile pressure sensing arrays and piezoelectric force sensitive sensors, and the number of force sensitive sensors employed varies from 4 FSRs to 64 force sensitive sensor arrays.
The existing intelligent insole which adopts a low-cost force-sensitive sensor to calculate the center track of the pressure of the sole has poor measurement precision. The reason is that a weighted average estimation algorithm is used. The weighted average estimation algorithm is calculated by a weighted average of the pressures sensed by each of the force sensitive sensors. Wherein the weighting factors (coefficients) are determined by predefined sensor coordinates. However, due to the differences in the material properties of the different types of force sensors themselves and the differences in the number and placement positions of the selected force sensors, there is a large error in the estimation of the plantar pressure center trajectory when a single weighted average estimation algorithm is used for calculation.
Disclosure of Invention
The invention mainly aims to provide a method for measuring the center track of plantar pressure, a model establishing method and an intelligent insole, which can reduce the cost of the intelligent insole while ensuring the accuracy of plantar pressure measurement.
The invention provides a method for measuring the pressure center track of a sole, which comprises the following steps:
measuring electrical signals of each force-sensitive sensor on an intelligent insole, wherein the intelligent insole comprises a plurality of force-sensitive sensors;
in the nonlinear regression model, the plantar pressure center coordinates are calculated according to the electric signals, the coordinates and the model coefficients of all the force-sensitive sensors.
Preferably, the electrical signal is a voltage output value.
Preferably, the plantar pressure center coordinate includes an abscissa X and an ordinate Y, which are respectively obtained by the following formula:
Figure BDA0001375714140000021
Figure BDA0001375714140000022
in the above formula, n represents the number of force-sensitive sensors,
Figure BDA0001375714140000031
model coefficients, x, representing the i-th sensor abscissaiAbscissa, V, representing the ith force sensoriAn electrical signal representing the ith force sensitive sensor,
Figure BDA0001375714140000032
a correction coefficient representing an abscissa;
Figure BDA0001375714140000033
model coefficients, y, representing the i-th sensor ordinateiIndicating the ordinate of the ith force sensitive sensor,
Figure BDA0001375714140000034
a correction coefficient indicating the ordinate.
Preferably, said n has a value of 12.
The invention also provides a model establishing method for measuring the plantar pressure center track, which comprises the following steps:
measuring the sensor coordinates on the intelligent insole, noted as (x)i，yi) The intelligent insole comprises a plurality of force-sensitive sensors, xiAbscissa, y, representing the ith force-sensitive sensoriRepresenting the ordinate of the ith force sensitive sensor;
carrying out simulation test on the force measuring platform by using the intelligent insole to obtain a plurality of groups of plantar pressure center coordinates and a plurality of electric signals corresponding to the plantar pressure center coordinates, wherein the plantar pressure center coordinates are measured by the force measuring platform, the electric signals are respectively measured by each force-sensitive sensor, and the plantar pressure center coordinates comprise a plantar pressure center horizontal coordinate and a plantar pressure center vertical coordinate;
establishing a non-linear regression model in the X direction and the Y direction respectively, wherein the non-linear regression model in the X direction comprises the following parameters: the center abscissa of the pressure of the sole, the abscissa of the sensor and an electric signal; the non-linear regression model in the Y direction includes the following parameters: the longitudinal center coordinate of the pressure of the sole, the longitudinal coordinate of the sensor and an electric signal; and fitting the nonlinear regression model by a least square method, and calculating model coefficients of each force-sensitive sensor in the X direction and the Y direction.
Preferably, the electrical signal is a voltage output value.
Preferably, the non-linear regression models in the X and Y directions may be represented by the following formulas, respectively:
Figure BDA0001375714140000035
Figure BDA0001375714140000036
in the above formula, n isThe number of the force-sensitive sensors is shown,
Figure BDA0001375714140000037
model coefficients, x, representing the i-th sensor abscissaiAbscissa, V, representing the ith force sensoriAn electrical signal representing the ith force sensitive sensor,
Figure BDA0001375714140000038
a correction coefficient representing an abscissa;
Figure BDA0001375714140000039
model coefficients, y, representing the i-th sensor ordinateiIndicating the ordinate of the ith force sensitive sensor,
Figure BDA0001375714140000041
a correction coefficient indicating the ordinate.
Preferably, said n has a value of 12.
The invention also provides an intelligent insole which comprises an insole body, a processor and a plurality of force-sensitive sensors, wherein the processor and the force-sensitive sensors are embedded in the insole body, and the processor is used for executing any one of the methods for measuring the pressure center track of the sole.
Preferably, the thickness of the force-sensitive sensor is 0.2-0.5 mm, and the diameter is 8-15 mm.
The invention provides a method for measuring the center trajectory of plantar pressure, a model establishing method and an intelligent insole. In the model establishing method, the intelligent insole is used for testing on the test bench to obtain model parameters required by the nonlinear regression model. Compared with the existing intelligent insole with high precision, the intelligent insole provided by the invention is used for measuring the center track of the pressure of the sole, the precision is very similar, but the cost is greatly reduced.
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FIG. 1 is a schematic flow chart of a method for measuring a plantar pressure center trajectory according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the placement positions of force sensors according to an embodiment of the method for measuring the center trajectory of plantar pressure;
FIG. 3 is a table showing the coefficients and standard deviations of a model obtained by testing according to an embodiment of the method for measuring the center trajectory of plantar pressure;
FIG. 4 is a comparison of a center of plantar pressure trajectory and an actual trajectory according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for modeling according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the present invention provides a method for measuring a center trajectory of plantar pressure, comprising the steps of:
s10, measuring electric signals of each force-sensitive sensor on the intelligent insole, wherein the intelligent insole comprises a plurality of force-sensitive sensors;
and S20, calculating the coordinate of the plantar pressure center in the nonlinear regression model according to the electric signals, the coordinate and the model coefficient of each force-sensitive sensor.
In step S10, a force sensor may be disposed on the intelligent insole in the manner of fig. 2. The numbers in fig. 2 indicate the numbers of the sensors. Taking this embodiment as an example, the number of force-sensitive sensors is 12. The force sensitive sensor is in the shape of a wafer. Each force sensitive sensor has corresponding coordinates in a coordinate system. The force-sensitive sensor is mainly used for measuring the pressure applied to each part of the insole. The pressure of human body on the intelligent insole is converted into an electric signal on the force-sensitive sensor, and the electric signal is generally a voltage value.
In step S20, after the electric signals, coordinates, and model coefficients of the force sensors are obtained, the plantar pressure center coordinates may be calculated in the following non-linear regression model, where the plantar pressure center coordinates include abscissa X and ordinate Y, and specifically:
Figure BDA0001375714140000051
Figure BDA0001375714140000052
in the above formula, n represents the number of force-sensitive sensors,
Figure BDA0001375714140000053
model coefficients, x, representing the i-th sensor abscissaiAbscissa, V, representing the ith force sensoriAn electrical signal representing the ith force sensitive sensor,
Figure BDA0001375714140000054
a correction coefficient representing an abscissa;
Figure BDA0001375714140000055
model coefficients, y, representing the i-th sensor ordinateiIndicating the ordinate of the ith force sensitive sensor,
Figure BDA0001375714140000056
a correction coefficient indicating the ordinate.
The model coefficients in the non-linear regression model are obtained during the model testing process. Specific test procedures may refer to the following embodiments of the model building method. Referring to fig. 3, fig. 3 shows a set of model coefficients obtained by testing, Est is the model coefficient, and Std is the standard deviation of the model coefficient.
Referring to fig. 4, the embodiment of the invention also verifies the measurement accuracy of the low-cost intelligent insole. In the figure, the solid line represents the test result of the high-precision insole, and is recorded as the actual track, and the dotted line represents the test result of the intelligent insole in the embodiment. The Root Mean Square Error (RMSE) between the foot pressure center trajectory estimated by the intelligent insole and the actual trajectory in the embodiment of the invention is 1.74mm and 2.05mm in the X-axis direction and the Y-axis direction respectively, and the correlation coefficients are 0.97 and 0.93 respectively. The result shows that the measurement accuracy of the intelligent insole provided by the embodiment of the invention is very close to that of a high-precision insole, and the cost is greatly reduced.
Referring to fig. 5, an embodiment of the present invention further provides a model building method for measuring a plantar pressure center trajectory, including the following steps:
s01, measuring the coordinates of the sensor on the intelligent insole, and recording as (x)i，yi) The intelligent insole comprises a plurality of force-sensitive sensors, xiAbscissa, y, representing the ith force-sensitive sensoriRepresenting the ordinate of the ith force sensitive sensor;
s02, carrying out simulation test on the force measuring platform by using the intelligent insole to obtain a plurality of groups of plantar pressure center coordinates and a plurality of corresponding electric signals, wherein the plantar pressure center coordinates are measured by the force measuring platform, the electric signals are respectively measured by each force-sensitive sensor, and the plantar pressure center coordinates comprise a plantar pressure center horizontal coordinate and a plantar pressure center vertical coordinate;
s03, establishing a nonlinear regression model in the X direction and the Y direction respectively, wherein the nonlinear regression model in the X direction comprises the following parameters: the center abscissa of the pressure of the sole, the abscissa of the sensor and an electric signal; the non-linear regression model in the Y direction includes the following parameters: the longitudinal center coordinate of the pressure of the sole, the longitudinal coordinate of the sensor and an electric signal; and fitting the nonlinear regression model by a least square method, and calculating model coefficients of each force-sensitive sensor in the X direction and the Y direction.
In this embodiment, the test process of the nonlinear regression model and the calculation of the model coefficient are mainly involved.
First, in step S01, the intelligent insole to be tested is measured to determine the position of each force sensor. Referring to FIG. 2, the location of the force sensitive sensor may be represented by a point in a rectangular planar coordinate system, denoted as sensor coordinates.
The test procedure in step S02 includes: recruiting testees, requiring the testees to wear the intelligent insoles, completing a series of daily actions of standing, standing up, sitting down, walking and the like, and recording data. The data includes the plantar pressure center coordinates at each measurement instant, and the electrical signals measured by the various force sensitive sensors. The force-sensitive sensor can be a force-sensitive sensor. The pressure of human body on the intelligent insole is converted into an electric signal on the force-sensitive sensor, and the electric signal is generally a voltage value. Taking this embodiment as an example, the number of force-sensitive sensors is 12. The force sensitive sensor is in the shape of a wafer. Each force sensitive sensor has corresponding coordinates in a coordinate system.
In step S03, a nonlinear regression model is established as follows:
Figure BDA0001375714140000071
Figure BDA0001375714140000072
in the above formula, n represents the number of force-sensitive sensors,
Figure BDA0001375714140000073
model coefficients, x, representing the i-th sensor abscissaiAbscissa, V, representing the ith force sensoriAn electrical signal representing the ith force sensitive sensor,
Figure BDA0001375714140000074
a correction coefficient representing an abscissa;
Figure BDA0001375714140000075
model coefficients, y, representing the i-th sensor ordinateiIndicating the ordinate of the ith force sensitive sensor,
Figure BDA0001375714140000076
a correction coefficient indicating the ordinate.
Then substituting the corresponding measured data, and calculating by least square method to obtain the resultModel coefficients in formula
Figure BDA0001375714140000077
The value of i is 13. When the value of i is 1-12,
Figure BDA0001375714140000078
the model coefficients for the force sensitive sensor, i is 13,
Figure BDA0001375714140000079
is a correction factor. The value of n in the embodiment of the present invention is 12.
The invention also provides an intelligent insole which comprises an insole body, a processor and a plurality of force-sensitive sensors, wherein the processor and the force-sensitive sensors are embedded in the insole body, and the processor is used for executing any one of the methods for measuring the pressure center track of the sole.
In this embodiment, the intelligent insole provided by the invention comprises an insole body, a processor and a plurality of force-sensitive sensors. The insole body contains 12 integrated force-sensitive sensors, and FSR402 force-sensitive sensors of interlink company can be adopted. The integrated module placed at the ankle mainly comprises a processor, a Bluetooth module and a battery module. The processor may be an STM32 chip with a high performance Cortex-M3 core available from ARM. The insole is also provided with a 5V polymer lithium battery with a battery of 600 mAh. The intelligent insole is also internally provided with a Bluetooth module which can adopt an HC-06 Bluetooth module developed by self.
The 12 force sensors cover important sole pressure distribution areas, such as big toes, metatarsophalangeal joint (MTP) joints, arch parts of feet, heels and the like.
The force-sensitive sensor of the embodiment can be selected to have the size thickness of 0.2-0.5 mm and the diameter of 8-15 mm. Taking the present embodiment as an example, each FSR402 has a 12.7 mm diameter sensing region made of fiberglass resin. It is then attached to a base 18.1 mm in diameter, which helps to distribute the applied force evenly over its surface and reduces the likelihood of saturation of the force sensitive sensor.
Each FSR402 follows the manufacturer's recommended method,are respectively connected to a voltage-current conversion (V2C) circuit. The connecting wires are specially screened to have a thickness of about 0.4mm, so that the influence of uneven surface of the insole can be minimized. The V2C conversion circuit converts the FSR resistance value into an inverse voltage output, which is then converted into a readable voltage output, denoted V, by a 10-bit analog-to-digital (A2D) modulei。
The processor in the intelligent insole receives the electric signal from the force-sensitive sensor, loads the sensor coordinate, the nonlinear regression model and the model parameter which are stored in the memory of the intelligent insole, and executes any one of the methods for measuring the plantar pressure center track to obtain the plantar pressure center track. The plantar pressure center track can be transmitted to a corresponding device through a Bluetooth module or read by a computer system through a data interface.
The invention provides a method for measuring the center trajectory of plantar pressure, a model establishing method and an intelligent insole. In the model establishing method, the intelligent insole is used for testing on the test bench to obtain model parameters required by the nonlinear regression model. Compared with the existing intelligent insole with high precision, the intelligent insole provided by the invention is used for measuring the center track of the pressure of the sole, the precision is very similar, but the cost is greatly reduced.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (8)

1. A method for measuring the pressure center trajectory of a sole of a foot is characterized by comprising the following steps:
measuring electrical signals of each force-sensitive sensor on an intelligent insole, wherein the intelligent insole comprises a plurality of force-sensitive sensors;
in a nonlinear regression model, calculating the coordinate of the center of pressure of the sole according to the electric signals, the coordinate and the model coefficient of each force-sensitive sensor;
the plantar pressure center coordinate comprises an abscissa X and an ordinate Y, and is obtained by the following formula respectively:
Figure FDA0002367010030000011
Figure FDA0002367010030000012
in the above formula, n represents the number of force-sensitive sensors,
Figure FDA0002367010030000013
model coefficients, x, representing the i-th sensor abscissaiAbscissa, V, representing the ith force sensoriAn electrical signal representing the ith force sensitive sensor,
Figure FDA0002367010030000014
a correction coefficient representing an abscissa;
Figure FDA0002367010030000015
model coefficients, y, representing the i-th sensor ordinateiIndicating the ordinate of the ith force sensitive sensor,
Figure FDA0002367010030000016
a correction coefficient indicating the ordinate.
2. The method for measuring the central plantar pressure trajectory according to claim 1, wherein the electric signal is a voltage output value.
3. The method for measuring the center foot sole pressure trajectory according to claim 2, wherein n has a value of 12.
4. A model building method is used for measuring the pressure center track of a sole of a foot, and is characterized by comprising the following steps:
measuring the sensor coordinates on the intelligent insole, noted as (x)i，yi) The intelligent insole comprises a plurality of force-sensitive sensors, xiAbscissa, y, representing the ith force-sensitive sensoriRepresenting the ordinate of the ith force sensitive sensor;
carrying out simulation test on the force measuring platform by using the intelligent insole to obtain a plurality of groups of plantar pressure center coordinates and a plurality of electric signals corresponding to the plantar pressure center coordinates, wherein the plantar pressure center coordinates are measured by the force measuring platform, the electric signals are respectively measured by each force-sensitive sensor, and the plantar pressure center coordinates comprise a plantar pressure center horizontal coordinate and a plantar pressure center vertical coordinate;
establishing a non-linear regression model in the X direction and the Y direction respectively, wherein the non-linear regression model in the X direction comprises the following parameters: the center abscissa of the pressure of the sole, the abscissa of the sensor and an electric signal; the non-linear regression model in the Y direction includes the following parameters: the longitudinal center coordinate of the pressure of the sole, the longitudinal coordinate of the sensor and an electric signal; fitting the nonlinear regression model by a least square method, and calculating model coefficients of each force-sensitive sensor in the X direction and the Y direction;
the non-linear regression models in the X and Y directions may be represented by the following formulas, respectively:
Figure FDA0002367010030000021
Figure FDA0002367010030000022
in the above formula, n represents the number of force-sensitive sensors,
Figure FDA0002367010030000023
indicating the ith senseModel coefficient of the abscissa, xiAbscissa, V, representing the ith force sensoriAn electrical signal representing the ith force sensitive sensor,
Figure FDA0002367010030000024
a correction coefficient representing an abscissa;
Figure FDA0002367010030000025
model coefficients, y, representing the i-th sensor ordinateiIndicating the ordinate of the ith force sensitive sensor,
Figure FDA0002367010030000026
a correction coefficient indicating the ordinate.
5. The modeling method of claim 4, wherein the electrical signal is a voltage output value.
6. The method of claim 5, wherein n has a value of 12.
7. An intelligent insole, which is characterized by comprising an insole body, a processor and a plurality of force-sensitive sensors, wherein the processor and the force-sensitive sensors are embedded in the insole body, and the processor is used for executing the method for measuring the pressure center track of the sole according to any one of claims 1 to 3.
8. The intelligent insole according to claim 7, wherein the thickness of the force-sensitive sensor is 0.2-0.5 mm, and the diameter is 8-15 mm.
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