CN107411744A - Plantar pressure testing agency and mechanical exoskeleton device - Google Patents
Plantar pressure testing agency and mechanical exoskeleton device Download PDFInfo
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- CN107411744A CN107411744A CN201610349623.9A CN201610349623A CN107411744A CN 107411744 A CN107411744 A CN 107411744A CN 201610349623 A CN201610349623 A CN 201610349623A CN 107411744 A CN107411744 A CN 107411744A
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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
- A61B5/112—Gait analysis
-
- 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
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6829—Foot or ankle
-
- 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
- A61B5/6843—Monitoring or controlling sensor contact pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7221—Determining signal validity, reliability or quality
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7225—Details of analog processing, e.g. isolation amplifier, gain or sensitivity adjustment, filtering, baseline or drift compensation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Abstract
A kind of plantar pressure testing agency of disclosure and mechanical exoskeleton device, the mechanical exoskeleton device carry out corresponding operating based on the pressure signal that the plantar pressure testing agency gathers.The plantar pressure testing agency includes supporting layer, pressure sensor and coating, pressure sensor is arranged on supporting layer, coating is then covered on pressure sensor, and coating includes toe area corresponding with person's toe part, arch area corresponding with human body foot arch part and heel area corresponding with human body heel member.Coating is by Human Sole on its caused pressure conduction to pressure sensor.And there is gap between coating and supporting layer, this pressure in vola to concentrate to be transmitted on the pressure sensor of supporting layer, improve the accuracy of detection.Meanwhile after the power in vola is transmitted to coating, zonal change can be caused, sensor is easier to gather signal, and applicability is stronger.
Description
Technical field
The application is related to the detection in pressure sensing arts, especially Human Sole pressure.
Background technology
Body gait is the importance of human motion research, is related to the neck such as athletic rehabilitation and robot control
Domain, it is particularly important to accurately identifying for body gait particularly in the control of mechanical exoskeleton robot.Machine
Tool ectoskeleton technology is a current focus, on the one hand it both may be used by providing extra power for human body
To strengthen the motion function of human body, the locomitivity of human body is improved, for military and industrial circle；The opposing party
Face, in medical field lower limb disorder patient can also be aided in carry out rehabilitation training.
In the control of human body exoskeleton robot, the identification of lower limb gait mainly has two ways：Based on myoelectricity
Signal or based on plantar pressure sensor signal.The cost of electromyographic signal is higher, it is necessary to complete with human body surface
Full connected, and signal is fainter, and pattern is difficult to.At present commonly by measuring plantar pressure
Sensor signal carries out Gait Recognition.
In existing ectoskeleton plantar nervous arch Research on measuring technique, the general form for using vola shoe-pad.
Limited individual pressure sensor is distributed on the shoe-pad of softness, is then placed within progress human pressure's inspection in footwear
Survey.It is soft between the pressure sensor on shoe-pad to contact because human body sole is softer, the change of measurement compared with
Greatly.Further, since everyone sole size has differences, and the sensor used is typically mounted at vola
Key position, because size difference easily causes dislocation, applicability is bad.
The content of the invention
The application provides a kind of new plantar pressure testing agency and mechanical exoskeleton device.
The plantar pressure testing agency that the application provides, including：
Supporting layer；
Pressure sensor, the pressure sensor are arranged on supporting layer；
And for being arranged on the coating of Human Sole, the coating includes being used for person's toe part
Toe area that the pressure of application is diffused, the pressure for applying to human body foot arch part are diffused
The heel area that arch area and the pressure for applying to human body heel member are diffused, the covering
Layer is covered on the test section of pressure sensor, and has gap, the support between coating and supporting layer
At least three pressure sensors are set on layer, each area in the toe area, arch area and heel area
Domain is all correspondingly provided with least one pressure sensor for being used to detect pressure in its region respectively.
As the further improvement of the plantar pressure testing agency, the cover layer face is to pressure sensor
Simultaneously there is raised engagement pad, the engagement pad is covered on the test section of pressure sensor.
As the further improvement of the plantar pressure testing agency, between the coating and supporting layer between
Away from for 0.3-0.7mm.
As the further improvement of the plantar pressure testing agency, the toe area includes and human body big foot
Big toe region corresponding to toe, the big toe region are correspondingly provided with least one for detecting the region internal pressure
The pressure sensor of power.
As the further improvement of the plantar pressure testing agency, the arch area includes and human body arch of foot
Arch of foot exterior lateral area corresponding to outside and with corresponding arch of foot inside region on the inside of human body arch of foot, outside the arch of foot
Side region and arch of foot inside region are all correspondingly provided with least one pressure for being used to detect pressure in its region respectively
Sensor.
As the further improvement of the plantar pressure testing agency, the pressure sensor is four, respectively
Corresponded with big toe region, arch of foot exterior lateral area, arch of foot inside region and heel area.
As the further improvement of the plantar pressure testing agency, on the supporting layer with big toe region,
Part is respectively arranged with caveli corresponding to arch of foot exterior lateral area, arch of foot inside region and heel area, described
Pressure sensor is contained in caveli.
As the further improvement of the plantar pressure testing agency, the supporting layer has the line that depression is set
Groove, the wire casing are drawn from the side of arch area.
As the further improvement of the plantar pressure testing agency, the pressure sensor is the pressure of diaphragm type
Dependent sensor element.
The mechanical exoskeleton device that the application provides, including control system, executing agency and any one of as described above
Described plantar pressure testing agency, the human body foot that the control system gathers according to plantar pressure testing agency
Base pressure force signal judges human action, and controls executing agency to perform corresponding actions.
The beneficial effect of the application is：
The plantar pressure testing agency that the application provides, its supporting layer, pressure sensor and coating, pressure
Sensor is arranged on supporting layer, and coating is then covered on pressure sensor, and coating includes and human foot
Toe area corresponding to toe portion, arch area corresponding with human body foot arch part and with human body heel member
Corresponding heel area.Coating is by Human Sole on its caused pressure conduction to pressure sensor.And
And there is gap between coating and supporting layer, this pressure in vola to concentrate to be transmitted to supporting layer
On pressure sensor, the accuracy of detection is improved.Meanwhile after the power in vola is transmitted to coating, it can cause
Zonal change, sensor are easier to gather signal, and applicability is stronger.
The pressure letter that control system in the mechanical exoskeleton device is gathered based on above plantar pressure testing agency
Number judge human action, when the pressure signal of plantar pressure testing agency collection is more accurate, control system
Judge just more accurately, and then enable the action of executing agency and human body more consistent.
Brief description of the drawings
Fig. 1 is a kind of structural decomposition diagram of embodiment of the application plantar pressure detection means；
Fig. 2 is supporting layer structural representation in a kind of embodiment of the application plantar pressure detection means；
Fig. 3 is tectum structure schematic diagram in a kind of embodiment of the application plantar pressure detection means；
Fig. 4 is the FB(flow block) of the application gait recognition method；
Fig. 5 is hardware architecture diagram in the application Gait Recognition system；
Fig. 6 is switch process schematic block diagram in the application gait recognition method；
Fig. 7 is that each gait mutually redirects sequential schematic in the application gait recognition method.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.The application can be with
Realized with many different forms, however it is not limited to embodiment described by the present embodiment.Following tool is provided
The purpose of body embodiment is easy for becoming apparent from thorough explanation to present disclosure, wherein upper and lower,
It is left and right wait indicating position words be only for shown structure in respective figure for position.
However, those skilled in the art may be aware that one or more detail description
It can be omitted, or other methods, component or material can also be used.In some instances, some
Embodiment is not described or is not described later in detail.
In addition, technical characteristic described herein, technical scheme can also in one or more embodiments with
Any appropriate mode combines.For those skilled in the art, should be readily appreciated that with provided herein is reality
The step of applying example relevant method or operation order can also change.Therefore, it is any in drawings and examples
Order is merely illustrative purposes, does not imply that requirement in a certain order, requires to press unless expressly stated
According to a certain order.
Embodiment one：
The present embodiment one provides a kind of plantar pressure testing agency, and it can gather the pressure at each position of Human Sole
Force signal.The pressure signal that control system gathers using the mechanism carries out subsequent treatment, such as judges human body foot
The action in portion, so as to control executing agency to perform corresponding actions.
Fig. 1 is refer to, the plantar pressure testing agency includes：
Supporting layer 100；
Pressure sensor (pressure sensor is conventional selection, not shown in figure), the pressure sensor is arranged on
On supporting layer 100；
And for being arranged on the coating 200 of Human Sole, the coating 200 includes being used for person's toe
The toe area A that is diffused of pressure that part applies, the pressure for applying to human body foot arch part expand
The heel area C that scattered arch area B and the pressure for applying to human body heel member is diffused.Should
Coating 200 is covered on the test section of pressure sensor, and is had between coating 200 and supporting layer 100
There is gap.At least three pressure sensors, toe area A, arch area B and foot are set on supporting layer 100
At least one pressure sensor is corresponding with respectively with each region in the C of region, to realize to three regions
Pressure detecting.
Coating 200 is used for foot naked with detected person or sole contacts, and pressure caused by naked foot or sole is passed
On the pressure sensor for leading supporting layer 100.When coating 200 is arranged to coordinate with sole, its benefit
It is that user does not need naked foot, it is only necessary to wear footwear and contacted with coating 200.
There is gap, this enables the pressure in vola to concentrate conduction between coating 200 and supporting layer 100
Onto the pressure sensor of supporting layer 100, the accuracy of detection is improved.Meanwhile the power in vola is transmitted to and covered
After cap rock 200, zonal change can be caused, sensor is easier to gather signal, and applicability is stronger.
For coating 200, it can be an integral structure, such as a kind of sheet knot of integral type
Structure；Or be also likely to be to be formed by three independent component combinations, as each region is one in three regions
Individual independent part, finally it is put together whole coating 200 by three regions.May also three regions
In, two of which is integral type, and another region finally pieces together whole coating 200 again to be independently arranged.
Toe area A, arch area B and heel area C are drawn with different from Human Sole contact area
Point.Human Sole is divided into toe portion, foot arch part and heel member, wherein toe section subpackage by the application
All toes including thumb are included, heel member is rear foot heel part, between toe portion and heel member
Region be foot arch part.For being with the region that toe portion directly or indirectly contacts on this coating 200
Toe area A, it is arch area B with the region that foot arch part directly or indirectly contacts, and and heel member
The region directly or indirectly contacted is heel area C.
The direct contact refers to that coating 200 is laid immediately on vola, and mediate contact refers to that coating 200 is spread
It is located at sole etc..
Fig. 1 is refer to, mechanism is respectively provided in toe area A, arch area B and heel area C
A few pressure sensor gathers the pressure signal in the region.When detected person acts, pass through this three
The pressure change in region judges the action of detected person.
As a kind of example, the application gathers the pressure signal of big toe, therefore coating 200 in toe portion
Toe area A include big toe region corresponding with human body big toe, big toe region is correspondingly provided with least
One pressure sensor for being used to detect pressure in the region.
As a kind of example, the application foot arch part collection arch of foot outside and the pressure signal on the inside of arch of foot.Tool
For body, the region that the foot arch part of human body or so pin is close to each other is inner side, and the region being located remotely from each other is outer
Side.The arch area B of coating 200 includes arch of foot exterior lateral area corresponding with the outside of human body arch of foot and and people
Arch of foot inside region corresponding on the inside of body arch of foot, the arch of foot exterior lateral area and arch of foot inside region are all corresponding respectively
Provided with least one pressure sensor for being used to detect pressure in its region.
Specifically, refer to Fig. 1 and 2, in the present embodiment, pressure sensor is four, respectively with big foot
Toe region, arch of foot exterior lateral area, arch of foot inside region and heel area correspond.Four sensors
Distribution can gather local pressure signals different everywhere, be easy to the further analysis to Human Sole pressure.
By the changing rule of this four sensors, the gait situation of change of human body can be effectively reflected.
Specifically, the corresponding big toe region of the supporting layer 100, arch of foot exterior lateral area, arch of foot inside region and
Heel area is provided with caveli 111,112,113,114, for installing pressure sensor.Wherein, it is recessed
Fall into chamber 111 it is corresponding with big toe region, caveli 112 is corresponding with arch of foot inside region, caveli 113 and
Arch of foot exterior lateral area is corresponding, and caveli 114 is corresponding with heel area.Pressure sensor can use diaphragm type
Voltage sensitive sensor element.While supporting layer 100 is additionally provided with the wire casing 120 that depression is set and is used for cabling, circuit
It is hidden in wire casing 120, and is drawn from the side of arch area, avoids and disturb covering with the protrusion of circuit
The conduction of 200 power of layer.
In addition, some fixing holes 130 are additionally provided with supporting layer 100, can be with wearing by the fixing hole 130
Formula structure connects, and whole supporting layer 100, coating 200 is linked together with sole, and then be easy to be detected
Survey person dresses, contact when ensureing to walk with sole.
Pressure of the human body thereon can be diffused as certain limit by the coating 200 by stress point, such as with big
Exemplified by toe, in existing detection structure, pressure sensor is directly to align to be detected with big toe,
But everyone sole size has differences, and the sensor general position used is all fixed, therefore size
Difference easily causes dislocation, and applicability is bad.And big toe acts on the pressure of coating 200 in the present embodiment
Power can cause zonal change, diffuse into certain scope, and the pressure sensor can with the range contact
Corresponding pressure signal is detected, avoids influenceing caused by dislocation, improves the adaptability of mechanism.
The coating 200 can select to be made up of plastics, such as it is (poly- for 1-3mm (such as 2mm) PVC
Vinyl chloride) layer structure made of material.
Further, ensure that two planes of coating 200 and supporting layer 100 have interval, it is ensured that apply
Can concentrating for reinforcing is transmitted on four pressure sensors of supporting layer 100.
Between the spacing may be selected to be 0.3-0.7mm, preferably by 0.5mm.
Further, Fig. 3 is refer to, the one side of coating 200 towards pressure sensor has raised contact
Pad 210, engagement pad 210 are covered on the test section of pressure sensor., should when pressure sensor is four
Engagement pad 210 is also four, and its position distribution is consistent with pressure sensor, is corresponded with supporting layer 100,
As shown in Figure 3.
Furthermore, it is also possible to it is that the test section of pressure sensor is protruded from into supporting layer 100 to set, so as to ensure
Coating 200 only with pressure sensor contacts, without contact supporting layer 100.
Embodiment two：
The present embodiment two provides a kind of gait recognition method, and this method is used to identifying body gait, and then to holding
Instructed corresponding to the output of row mechanism, so that executing agency coordinates the gait action of human body.
Fig. 4 is refer to, the gait recognition method includes：
Definition step：It is defined on the toe portion in vola under each gait phase, arch area, heel difference
Corresponding pressure state, the pressure state are divided into high-pressure state and low-pressure state；
Signal acquisition step：Obtain the pressure inspection of toe portion in the same time, arch area, heel
Survey signal；
Switch process：The pressure detecting signal of acquisition is converted to and represents high-pressure state or low-pressure state
Data signal；
Judgment step：By the pressure of toe portion, arch area, heel everywhere in the same time of acquisition
The pressure state that power state mutually defines with each gait is contrasted, if consistent with a certain gait phase Comparative result,
Then judge to be currently at the gait phase；If mutually differed with all gaits, it is judged as abnormality；
Perform step：When judging to be currently at a certain gait phase, execute instruction is sent, controls executing agency
Perform the action to match with the gait.
Wherein, to the toe portion in vola, arch area, heel point under each gait phase in definition step
The definition of not corresponding pressure state is carried out according to body gait rule, such as stood still according to human body,
The pressure state of toe portion, arch area and heel is defined under the actions such as walking.
Can voluntarily it be selected according to demand for the pressure acquisition point of toe portion, arch area, heel.
The present embodiment is ensures accuracy, and toe portion pressure acquisition point can be big toe, and arch area pressure is adopted
Integrating a little can be as on the inside of arch of foot and on the outside of arch of foot.
The recognition methods can be based on hardware system as shown in Figure 5 on.Wherein, sensor array is used to adopt
Collect the pressure signal of Human Sole, specific acquisition mode structure can be carried out as shown in embodiment one, it is also possible to
Realized using any structure in the prior art.
Amplifying circuit is used to be amplified the signal of collection in Fig. 5.AD circuits convert analog signals into number
Word signal.Central processing unit is then used to judge gait phase, and sends command adapted thereto to executing agency.
Sensor gathers the pressure signal of Human Sole respectively, by signal amplification and analog signal is converted
For digital quantity, by USB high-speed interfaces, data are conducted into central processing unit.
Certainly, given by the Fig. 5 only it is a kind of hardware configuration for realizing the recognition methods, this recognition methods
It is not limited to realize with structure shown in Fig. 5.
Further, in switch process, after the pressure detecting signal of acquisition is filtered processing, using mould
Each pressure detecting signal is divided into high-pressure state or low-pressure state by paste recognizer.
Specifically, as shown in fig. 6, design wave filter is filtered to pressure signal.The pressure of sensor collection
Force signal has mixed many noises and interference, fertile hereby using Bart according to sample frequency and gait walking cycle
Low pass filter is designed, removes interference signal.
Then according to body gait rule, the fusion of data is carried out to filtered signal.Using existing mould
Recognizer is pasted, selects the high membership function of matching degree, each sensor signal is divided into high pressure and low
Pressure two states, and the changing rule of gait is combined, carry out the identification of gait phase.
Further, pressure signal in the process of walking is impossible completely the same, it is possible that filtering compared with
Big signal intensity or interference, cause the mutation of gait phase, so as to cause the instruction that sends and human body current
Gait is inconsistent.
To solve problem above, each gait phase change order of definable, each gait mutually redirects in sequence.Tool
Body is the change order that each phase is defined by state machine, improves the stability of Gait Recognition.When sensor identifies
Gait when mutually undergoing mutation, not specify redirect phase when, illustrate identification mistake,
Specifically, if currently detected gait is mutually in defined change order not at being carrying out
Gait phase after, then do not redirect, keep the state of gait phase being carrying out.Prevent halting with this
The mutation of state phase.
Following table is refer to, following table is the pressure state of corresponding position under each gait phase：
| Big toe | On the inside of arch of foot | On the outside of arch of foot | Heel | State | Definition |
| It is low | It is low | It is low | It is high | Initially contact phase | S1 |
| It is low | It is low | It is high | It is high | Loading feedback phase | S2 |
| It is low | It is high | It is high | It is high | Intermediate supports phase | S3 |
| It is low | It is high | It is low | It is high | Intermediate supports phase | S3 |
| It is high | It is high | It is low | It is high | Intermediate supports phase | S3 |
| It is high | It is high | It is high | It is high | Intermediate supports phase | S3 |
| It is low | It is high | It is high | It is low | Support last phase | S4 |
| It is low | It is low | It is high | It is low | Support last phase | S4 |
| It is low | It is high | It is low | It is low | Support last phase | S4 |
| It is high | It is high | It is high | It is low | Support last phase | S4 |
| It is high | It is low | It is low | It is low | Preliminary swing phase | S5 |
| It is high | It is high | It is low | It is low | Preliminary swing phase | S5 |
| It is low | It is low | It is low | It is low | Swing phase | S6 |
| It is high | It is low | It is low | It is high | Abnormality | ES |
| It is high | It is low | It is high | It is low | Abnormality | ES |
| It is high | It is low | It is high | It is high | Abnormality | ES |
Including：
S1：Phase is initially contacted, big toe region corresponds to low-pressure state, arch of foot inside region pair under this phase
Low-pressure state is should be, arch of foot exterior lateral area corresponds to low-pressure state, and heel area corresponds to high pressure shape
State；
S2：Phase is fed back in loading, and big toe region corresponds to low-pressure state, arch of foot inside region pair under this phase
Low-pressure state is should be, arch of foot exterior lateral area corresponds to high-pressure state, and heel area corresponds to high pressure shape
State；
S3：Intermediate supports phase, under this phase：
Big toe region corresponds to low-pressure state, and arch of foot inside region corresponds to high-pressure state, outside arch of foot
Side region corresponds to high-pressure state, and heel area corresponds to high-pressure state；
Or big toe region corresponds to low-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to low-pressure state, and heel area corresponds to high-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to low-pressure state, and heel area corresponds to high-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to high-pressure state；
S4：Last phase is supported, under this phase：
Big toe region corresponds to low-pressure state, and arch of foot inside region corresponds to high-pressure state, outside arch of foot
Side region corresponds to high-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to low-pressure state, arch of foot inside region corresponds to low-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to low-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to low-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to low-pressure state；
S5：Preliminary swing phase, under this phase：
Big toe region corresponds to high-pressure state, and arch of foot inside region corresponds to low-pressure state, outside arch of foot
Side region corresponds to low-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to low-pressure state, and heel area corresponds to low-pressure state；
S6：Swing phase, big toe region corresponds to low-pressure state under this phase, and arch of foot inside region corresponds to
Low-pressure state, arch of foot exterior lateral area correspond to low-pressure state, and heel area corresponds to low-pressure state；
Fig. 7 is refer to, the above is each mutually according to S1 to S2, S2 to S3, S3 to S4, S4 to S5, S5 to S6, S6
S1 order cycling jump successively is arrived again.
The characteristics of when being walked according to people, gait can be divided into swing phase and support phase when people walks.
Each above detected for single pin, wherein：
Initial contact phase (S1) is that swing state is just converted into holding state, and heel just lands；
Loading feedback phase (S2) starts the state of main stress for the leg that lands；
Intermediate supports phase (S3) is mainly transferred to for center of gravity and landed on leg, becomes supporting leg, another one leg is past
Preceding swing；
Last phase (S4) is supported to be had an effect forward for supporting leg arch of foot；
Preliminary swing phase (S5) is that another one leg has landed support, and the supporting leg only has tiptoe stress；
Swing phase (S6) is that former supporting leg is in the swing state for lifting leg forward.
Each phase for more than, control system send corresponding instruction, and the instruction of output is mainly according to system
Depending on specific controlled quentity controlled variable, the turned position in generally each joint or speed, the action for performing structure are then drivings
Joint runs to desired location or speed.
Further, the abnormality is defined as follows：
Big toe region corresponds to high-pressure state, and arch of foot inside region corresponds to low-pressure state, outside arch of foot
Side region corresponds to low-pressure state, and heel area corresponds to high-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to low-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to low-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to high-pressure state；
When being judged as under abnormality, then do not redirect, keep the state of gait phase being carrying out.
When determining a certain motion state by this recognition methods, central processing unit sends instruction, controls execution machine
Structure is moved accordingly.
Embodiment three：
The present embodiment three provides a kind of Gait Recognition device with corresponding to embodiment two, including：
Definition module, for being defined on toe portion, arch area, the heel in vola under each gait phase
Pressure state corresponding to respectively, the pressure state are divided into high-pressure state and low-pressure state；
Signal acquisition module, for obtaining medial plantar toe portion of same time, arch area, heel portion
The pressure detecting signal of position；
Modular converter, high-pressure state or low-pressure shape are represented for the pressure detecting signal of acquisition to be converted to
The data signal of state；
Judge module, by the pressure state of toe portion, arch area, heel everywhere in the same time
Contrasted with the mutually undefined pressure state of each gait, if consistent with a certain gait phase Comparative result,
Judgement is currently at the gait phase；If mutually differed with all gaits, it is judged as abnormality；
Execution module, when judging to be currently at a certain gait phase, execute instruction is sent, controls executing agency
Perform the action to match with the gait.
Further, after the pressure detecting signal of acquisition is filtered processing by the modular converter, using fuzzy
Each pressure detecting signal is divided into high-pressure state or low-pressure state by recognizer.
Further, in addition to gait phase jump module, for defining each gait phase change order, each gait
Mutually redirect in sequence.
If currently detected gait is mutually in defined change order not at the gait phase being carrying out
Afterwards, then do not redirect, keep the state of gait phase being carrying out.
Further, the toe portion pressure acquisition point includes big toe, the arch area pressure acquisition
Point is included on the inside of arch of foot and on the outside of arch of foot.
Further, the gait mutually includes：
S1：Phase is initially contacted, big toe region corresponds to low-pressure state, arch of foot inside region pair under this phase
Low-pressure state is should be, arch of foot exterior lateral area corresponds to low-pressure state, and heel area corresponds to high pressure shape
State；
S2：Phase is fed back in loading, and big toe region corresponds to low-pressure state, arch of foot inside region pair under this phase
Low-pressure state is should be, arch of foot exterior lateral area corresponds to high-pressure state, and heel area corresponds to high pressure shape
State；
S3：Intermediate supports phase, under this phase：
Big toe region corresponds to low-pressure state, and arch of foot inside region corresponds to high-pressure state, outside arch of foot
Side region corresponds to high-pressure state, and heel area corresponds to high-pressure state；
Or big toe region corresponds to low-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to low-pressure state, and heel area corresponds to high-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to low-pressure state, and heel area corresponds to high-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to high-pressure state；
S4：Last phase is supported, under this phase：
Big toe region corresponds to low-pressure state, and arch of foot inside region corresponds to high-pressure state, outside arch of foot
Side region corresponds to high-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to low-pressure state, arch of foot inside region corresponds to low-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to low-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to low-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to low-pressure state；
S5：Preliminary swing phase, under this phase：
Big toe region corresponds to high-pressure state, and arch of foot inside region corresponds to low-pressure state, outside arch of foot
Side region corresponds to low-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to high-pressure state, arch of foot
Exterior lateral area corresponds to low-pressure state, and heel area corresponds to low-pressure state；
S6：Swing phase, big toe region corresponds to low-pressure state under this phase, and arch of foot inside region corresponds to
Low-pressure state, arch of foot exterior lateral area correspond to low-pressure state, and heel area corresponds to low-pressure state；
Each phase arrives S1's again according to S1 to S2, S2 to S3, S3 to S4, S4 to S5, S5 to S6, S6
Order cycling jump successively.The characteristics of when being walked according to people, gait can be divided into swing phase and branch when people walks
Support phase.
Each above detected for single pin, wherein：
Initial contact phase (S1) is that swing state is just converted into holding state, and heel just lands；
Loading feedback phase (S2) starts the state of main stress for the leg that lands；
Intermediate supports phase (S3) is mainly transferred to for center of gravity and landed on leg, becomes supporting leg, another one leg is past
Preceding swing；
Last phase (S4) is supported to be had an effect forward for supporting leg arch of foot；
Preliminary swing phase (S5) is that another one leg has landed support, and the supporting leg only has tiptoe stress；
Swing phase (S6) is that former supporting leg is in the swing state for lifting leg forward.
Each phase for more than, control system send corresponding instruction, and the instruction of output is mainly according to system
Depending on specific controlled quentity controlled variable, the turned position in generally each joint or speed, the action for performing structure are then drivings
Joint runs to desired location or speed.
Further, the abnormality is defined as follows：
Big toe region corresponds to high-pressure state, and arch of foot inside region corresponds to low-pressure state, outside arch of foot
Side region corresponds to low-pressure state, and heel area corresponds to high-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to low-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to low-pressure state；
Or big toe region corresponds to high-pressure state, arch of foot inside region corresponds to low-pressure state, arch of foot
Exterior lateral area corresponds to high-pressure state, and heel area corresponds to high-pressure state；
When being judged as under abnormality, then do not redirect, keep the state of gait phase being carrying out.
Example IV：
Example IV provides a kind of mechanical exoskeleton device.
The mechanical exoskeleton device includes control system, executing agency and the plantar pressure as shown in embodiment one
Testing agency, the Human Sole pressure signal that the control system gathers according to plantar pressure testing agency judge people
Body acts, and controls executing agency to perform corresponding actions.
The control system judges human action based on the pressure signal that above plantar pressure testing agency gathers,
When the pressure signal of plantar pressure testing agency collection is more accurate, the judgement of control system is just more accurate, enters
And enable the action of executing agency and human body more consistent.
In addition, the control system of the mechanical exoskeleton device can use the identification side as shown in embodiment two and three
Method or device complete the identification to human action.Or other gait recognition methods can be also used with implementing
Plantar pressure testing agency shown in example one is coordinated, and carrys out execution.
Above content is to combine specific embodiment further description made for the present invention, it is impossible to is recognized
The specific implementation of the fixed present invention is confined to these explanations.For the ordinary skill of the technical field of the invention
For personnel, without departing from the inventive concept of the premise, some simple deduction or replace can also be made.
Claims (10)
- A kind of 1. plantar pressure testing agency, it is characterised in that including：Supporting layer；Pressure sensor, the pressure sensor are arranged on supporting layer；And for being arranged on the coating of Human Sole, the coating includes being used for human body Toe portion apply pressure be diffused toe area, for human body foot arch part apply The arch area that is diffused of pressure and the pressure for applying to human body heel member enter The heel area of row diffusion, the coating are covered in the top of the test section of pressure sensor, And there is gap between coating and supporting layer, set at least three pressure to pass on the supporting layer Sensor, each region corresponds to respectively in the toe area, arch area and heel area sets There is at least one pressure sensor for being used to detect pressure in its region.
- 2. plantar pressure testing agency as claimed in claim 1, it is characterised in that institute State cover layer face has raised engagement pad, the engagement pad covering to the one side of pressure sensor On the test section of pressure sensor.
- 3. plantar pressure testing agency as claimed in claim 1, it is characterised in that institute It is 0.3-0.7mm to state the spacing between coating and supporting layer.
- 4. plantar pressure testing agency as claimed in claim 1, it is characterised in that institute Stating toe area includes big toe region corresponding with human body big toe, the big toe region pair At least one pressure sensor for being used to detect pressure in the region should be provided with.
- 5. plantar pressure testing agency as claimed in claim 4, it is characterised in that institute State arch area include with corresponding arch of foot exterior lateral area on the outside of human body arch of foot and with human body arch of foot Arch of foot inside region corresponding to inner side, arch of foot exterior lateral area and arch of foot the inside region difference is all It is correspondingly provided with least one pressure sensor for being used to detect pressure in its region.
- 6. plantar pressure testing agency as claimed in claim 5, it is characterised in that institute Pressure sensor is stated as four, respectively with the inside of big toe region, arch of foot exterior lateral area, arch of foot Region and heel area correspond.
- 7. plantar pressure testing agency as claimed in claim 6, it is characterised in that institute State on supporting layer with big toe region, arch of foot exterior lateral area, arch of foot inside region and heel area Part is respectively arranged with caveli corresponding to domain, and the pressure sensor is contained in caveli.
- 8. plantar pressure testing agency as claimed in claim 7, it is characterised in that institute The wire casing that there is supporting layer depression to set is stated, the wire casing is drawn from the side of arch area.
- 9. plantar pressure testing agency as claimed in claim 1, it is characterised in that institute State the voltage sensitive sensor element that pressure sensor is diaphragm type.
- 10. a kind of mechanical exoskeleton device, it is characterised in that including control system, perform Mechanism and the plantar pressure testing agency as described in claim any one of 1-9, the control system The Human Sole pressure signal that system gathers according to plantar pressure testing agency judges human action, and Executing agency is controlled to perform corresponding actions.
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| CN201610349623.9A CN107411744A (en) | 2016-05-24 | 2016-05-24 | Plantar pressure testing agency and mechanical exoskeleton device |
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