CN109702710B

CN109702710B - Foot device capable of detecting plantar pressure and lower limb assisting equipment thereof

Info

Publication number: CN109702710B
Application number: CN201711015340.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Conchin Technology Co ltd
Current assignee: Shenzhen Conchin Technology Co ltd
Priority date: 2017-10-26
Filing date: 2017-10-26
Publication date: 2020-10-02
Anticipated expiration: 2037-10-26
Also published as: CN109702710A

Abstract

The invention discloses a foot device capable of detecting plantar pressure and lower limb power assisting equipment thereof. A foot device capable of detecting plantar pressure comprises an upper sole, a lower sole and at least one force sensor arranged between the upper sole and the lower sole; a deformation cavity is formed between the upper sole and the lower sole and is used for accommodating the deformation of the force sensor. According to the invention, the plurality of force sensors are arranged between the upper sole and the lower sole, and the pressure between the upper sole and the lower sole is detected by the force sensors, so that the performance of the foot device is improved, the structure is simple, and the integration level is high. The lower limb assistance exoskeleton adopting the foot device and the power joint device can increase the measured information, including the pressure of the foot, the angle between the foot device and the shank rod, the joint torsion, the angle between the waist structure and the thigh rod, the angle between the thigh rod and the shank rod and the rotation angle of the motor in the power device, and the control system can implement more accurate and flexible control.

Description

Foot device capable of detecting plantar pressure and lower limb assisting equipment thereof

Technical Field

The invention relates to wearing equipment, in particular to a foot device capable of detecting plantar pressure and lower limb assisting equipment thereof.

Background

The wearable exoskeleton device needs to accurately measure the pressure borne by the sole of a wearer and/or a mechanical structure base in real time so as to sense the current motion state of the wearer, and then relevant drive control is implemented so as to realize the motion assistance function. Biped robots also require real-time measurement of robot foot pressure to assist in determining robot status.

In the prior art, a sole measuring device is mostly realized by adopting a rigid structure with a force sensor, and the problems caused by the rigid structure are poor wearing experience, complex structure and high cost. For example, patent CN201410036599.4 discloses a plantar pressure detection device, which uses several force-measuring floating blocks to measure plantar pressure, and all of them use rigid structure, and have complex structure, high cost, poor wearing experience, and when pressure is applied to the edge of the device, the measurement result is seriously distorted. Patent CN201410491074.X discloses plantar force detection device, and the device main part adopts rigid structure, and the dress is experienced poorly, and its structure is complicated, and is with high costs, still can lead to the inaccurate condition of measuring result when pressure loads to the device edge, and the device only single-point load, and the structure is insecure, uses easily to damage for a long time. Patent CN101489732A discloses a plantar pressure detection device, the main body of which is also realized by a rigid structure, the wearing experience is poor, the structure is complex, and the cost is high. Patent CN201510483444.X discloses a plantar pressure detection device, adopts three-layer rigid structure to realize, and it is not good to have the dress to experience equally, and the complicated cost of structure is costly problem.

In the prior art, the plantar pressure is realized by adopting a flexible sensor, the wearing experience is better, but the conditions of low measurement reliability and poor precision exist; for example, patent CN2006800006514.1 and the 2010 thesis of the flexible biped power-assisted robot sensing system for gait detection in chinese science and technology university all disclose a plantar pressure detection device, which uses a flexible oil pressure pipe to sense plantar pressure, and the problem caused by the device is that the contact pressure-bearing area of the oil pressure pipe is difficult to be accurately measured, thereby causing inaccurate measurement.

In the prior art, patent CN201610903637.0 entitled "a wearable plantar pressure detection device" discloses a multi-layer foot structure device, wherein a pillar structure is arranged between layers, and plantar pressure is detected by detecting deformation of the pillar structure through a metal deformation sheet; in the method, the supporting column is made of alloy materials, the supporting column and the upper and lower layers of rubber materials are difficult to fix firmly, and the reliability is not high; the adoption of the method needs a plurality of support columns for stably bearing the pressure of the foot, which causes the complex structure of the device, difficult practical engineering implementation and poor reliability;

in the prior art, a scheme of detecting the plantar pressure by adopting a film pressure sensor is also adopted, the film pressure sensor is realized by adopting a voltage variable resistor or voltage variable capacitor technology, the general measuring range of the technology is small, and the technology is difficult to be applied to the condition of measuring the plantar pressure of a human body.

If the pressure of the soft sole needs to be detected, the prior art has certain limitation, and the detection accuracy is greatly reduced. When the soft sole is used for detecting pressure, the soft material can absorb a part of the pressure, so that a certain influence is caused on a detection result. In addition, the soft sole is difficult to form rigid support for the force sensor, and the general sensor is difficult to have space for expansion.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a foot device capable of detecting plantar pressure and lower limb assisting equipment thereof.

In order to achieve the purpose, the invention adopts the following technical scheme:

a foot device capable of detecting plantar pressure comprises an upper sole, a lower sole and at least one force sensor arranged between the upper sole and the lower sole; a deformation cavity is formed between the upper sole and the lower sole and is used for accommodating the deformation of the force sensor; the upper sole or the lower sole extrudes and deforms the force sensor to detect the pressure of the foot device.

The further technical scheme is as follows: the force sensor comprises a deformation sheet and a plurality of sheet-shaped detection pieces arranged on the deformation sheet; the deformation sheet comprises a fixing part, a deformation part and a strain beam connected between the deformation part and the fixing part; at least one deformation part is arranged; the sheet-shaped detection piece is arranged on the strain beam.

The further technical scheme is as follows: the deformation sheet is arranged in the deformation cavity; the deformation cavity is provided with a fixing bulge which is used for being sleeved with the fixing part of the deformation sheet; the upper sole and the lower sole are provided with blocking bulges and supporting bulges which are connected with the deformation parts, and the deformation parts connected with the blocking bulges and the supporting bulges are distributed in a staggered way one by one.

The further technical scheme is as follows: the fixing bulge is arranged on the upper sole or the lower sole and is fixedly connected with the mounting hole arranged on the deformation sheet; supporting bulges corresponding to the strain parts are arranged at intervals on the lower sole; the upper sole is provided with blocking bulges opposite to the deformation parts at intervals, and the blocking bulges are different from the supporting bulges so that the two adjacent deformation parts are respectively contacted with the blocking bulges and the supporting bulges.

The further technical scheme is as follows: the upper ends of the blocking bulges and the supporting bulges are provided with clamping grooves for fixing the periphery of the deformation part; the upper ends of the blocking bulges and the supporting bulges are also provided with mounting columns, and the mounting columns are fixedly connected with mounting holes arranged on the deformation parts.

The further technical scheme is as follows: the upper sole and the lower sole are made of flexible materials; the force sensor is horizontally arranged between the upper sole and the lower sole.

The further technical scheme is as follows: the shoe also comprises a bearing plate arranged between the upper sole and the lower sole; the force bearing plate comprises a sole fixing part and an ankle joint fixing part; the sole fixing part is fixedly connected between the upper sole and the lower sole and displaces the waist parts of the upper sole and the lower sole; the ankle joint fixing part extends to the outer sides of the upper sole and the lower sole.

The further technical scheme is as follows: also comprises an upper; the upper comprises a transverse part fixed with the upper sole and upright parts connected with two sides of the transverse part; the horizontal portion is fixed in the mounting groove that last sole was equipped with, and the upper surface of last sole is located to the mounting groove.

The further technical scheme is as follows: one side or two sides of the waist part of the lower sole are provided with upright parts, and the upright parts form an upper; the lower surface of the lower sole is provided with a concave cavity; the concave cavity is provided with a bearing plate.

The further technical scheme is as follows: the force sensor comprises a heel force sensor arranged corresponding to the heel of a human body and a sole force sensor corresponding to the sole of the human body; the heel force sensor is provided with a heel deformation sheet, and the sole force sensor is provided with a sole deformation sheet; the deformation part of the heel deformation sheet is annularly arranged on the periphery of the fixing part; the deformation parts of the sole deformation pieces are arranged on two sides of the fixing part.

A lower limb assistance exoskeleton device comprises a power joint device, a waist structure, a thigh rod, a shank rod and an ankle mechanism; the ankle mechanism comprises the foot device; the waist structure and the thigh rod as well as the thigh rod and the shank rod are connected through dynamic joint devices; the lower leg rod is rotationally connected with the ankle mechanism; the relative extension or bending between the waist structure and the thigh rod and between the thigh rod and the shank rod is controlled by the power joint device.

The further technical scheme is as follows: the ankle mechanism further comprises an ankle bracket; the ankle support comprises an upper support rotationally connected with the shank rod and a lower support rotationally connected with the upper support in the vertical direction; the lower support is rotatably connected with a bearing plate arranged on the foot device in the horizontal direction.

The further technical scheme is as follows: the ankle mechanism further comprises an ankle bracket; an ankle joint angle measuring mechanism is arranged between the ankle support and the shank rod; the ankle joint angle measuring device comprises a magnet and a magnetic field induction circuit; the magnet is arranged on the ankle support, the magnetic field induction circuit is arranged on the shank, and the relative rotation between the ankle support and the shank drives the relative rotation between the magnet and the magnetic field induction circuit to detect the angle between the shank and the ankle support.

The further technical scheme is as follows: the ankle support is provided with a rotating cavity, and the rotating cavity is provided with an ankle joint shaft; the shank rod is rotationally connected with the ankle joint shaft; one end of the shank rod in the rotating cavity is provided with a concave part; the magnet is arranged at one end of the ankle joint shaft extending to the concave part; the magnetic field induction circuit is arranged on the inner side of the concave part and corresponds to the magnet;

or the shank rod is provided with a rotating cavity, and the rotating cavity is provided with an ankle joint shaft; the ankle support is rotationally coupled with the ankle joint shaft; one end of the ankle support in the rotating cavity is provided with a concave part; the magnet is arranged at one end of the ankle joint shaft extending to the concave part; the magnetic field induction circuit is arranged on the inner side of the concave part and corresponds to the magnet.

Compared with the prior art, the invention has the beneficial effects that: according to the foot device capable of detecting the pressure of the sole, the pressure between the upper sole and the lower sole is detected through the force sensors arranged between the upper sole and the lower sole, so that the performance of the foot device is improved.

Go up the sole interval and be equipped with the deformation portion that a plurality of and deformation piece correspond and block the arch, and the deformation portion of here is equipped with the deformation chamber that holds deformation portion deformation at last sole. The lower sole is also provided with a plurality of supporting bulges corresponding to the deformation parts at intervals, and the supporting bulges are positioned between the two blocking bulges of the upper sole, so that the design can accurately detect the pressure between the upper sole and the lower sole which are made of soft materials. And an ankle joint angle measuring mechanism is arranged between the ankle support and the shank rod, so that the rotation angle between the shank rod and the foot device can be accurately measured, the improvement of the exoskeleton control shape performance is facilitated, the cost is low, and the reliability is high.

According to the lower limb assistance exoskeleton device, the data of the pressure and the rotation angle detected by the foot device is transmitted to the pressure control system, so that the performance of the exoskeleton device is improved. The lower limb assistance exoskeleton is simple in structure and high in integration level, information which can be measured by the lower limb assistance exoskeleton adopting the foot device and the power joint device is increased, the information comprises the pressure of the foot, the angle between the foot device and the shank rod, the joint torsion, the angle between the waist structure and the thigh rod, the angle between the shank rod and the rotation angle of a motor in the power device, and a control system of the lower limb assistance exoskeleton can implement more accurate and flexible control.

Drawings

FIG. 1 is a schematic cross-sectional front view of a foot device 1 for detecting plantar pressure according to an embodiment of the present invention;

FIG. 2 is a schematic view of an embodiment of a foot device 1 for detecting plantar pressure of the present invention with the upper sole removed;

FIG. 3 is a schematic exploded view of a sole of a foot device according to an embodiment 1 of the present invention;

FIG. 4 is a schematic view of the upper sole of the foot device for detecting plantar pressure according to example 1 of the present invention;

FIG. 5 is a schematic view of an upper for a foot device for detecting plantar pressure according to the present invention;

FIG. 6 is a schematic view of an upper of another embodiment of a foot device for detecting plantar pressure according to the present invention;

FIG. 7 is a schematic cross-sectional front view of a foot device 2 for detecting plantar pressure according to an embodiment of the present invention;

FIG. 8 is a schematic view of a lower sole 3D of an embodiment 2 of a foot device for detecting plantar pressure according to the present invention;

FIG. 9 is a schematic view of a first shape-changing plate of a foot device for detecting plantar pressure according to the present invention;

FIG. 10 is a schematic view of a second shape-changing plate of the foot device for detecting plantar pressure according to the present invention;

FIG. 11 is a schematic view of a heel shape-changing plate of a foot device for detecting plantar pressure according to the present invention;

FIG. 12 is a schematic diagram of the overall configuration of a lower extremity assist exoskeleton device in accordance with the present invention;

FIG. 13 is a schematic diagram of the configuration of the ankle mechanism of the lower extremity assist exoskeleton device of the present invention;

FIG. 14 is a schematic diagram of the configuration of the ankle joint angle measurement mechanism of the lower extremity assist exoskeleton device of the present invention;

fig. 15 is a schematic structural diagram of a power joint device of the lower limb assistance exoskeleton device.

Reference numerals

1-lower sole; 11A — a first lower deformation chamber; 11B — a first upper deformation chamber; 12-the ball of the foot; 13-the instep portion; 14-heel part; 15-a cavity; 2, putting on a sole; 21-a second deformation chamber; 22-mounting groove; 3-a force sensor; 31-a first sole force sensor; 310 — first deformation sheet; 311-a fixed part; 3111 — first extension structure; 312-deformation part; 3120-locating holes; 3121 — a second extension; 313 — a strain beam; 314-a sheet-like detection member; 315-mounting holes; 316-fixing the projection; 317A, a supporting projection; 317B-blocking protrusion; 3171-a clamping groove; 3172-mounting posts; 32-a second sole force sensor; 320-a second deformation sheet; 33-heel force sensor; 330-heel deformation slice; 331-heel securing part; 3311-heel extension structure; 332-heel-deforming part; 333-heel strain beam; 4, shoe uppers; 41-a transverse portion; 42-a rise portion; 5, a bearing plate; 51-sole fixing part; 52-ankle joint securing part; 53-bearing plate spacer; 6-ankle brace; 61-lower support; 62, an upper bracket; 63-vertical axis of rotation; 64-abduction-adduction axis; 65-rotating chamber; 7-ankle joint axis; 71-first ankle joint axis; 72-second ankle joint axis; 8-ankle joint bearing; 9-ankle joint angle measuring means; 91-a magnet; 92-a magnetic field induction circuit; 100-a power-assisted bracket; 200-man-machine connection structure; 1000-power joint device; 1000A-hip joint; 1000B — knee joint; 1001 — joint body; 10011 — upper arm; 10012 — lower arm; 10013 — a first angle measuring mechanism; 10014 — a second angle measuring mechanism; 10015 — a moment measuring mechanism; 1002-a power plant; 10021-a power member; 10022 — a reduction mechanism; 1003 — lumbar structure; 1004 — shank rod; 10041 — a depression; 1005-ankle mechanism; 1006-ankle joint axis; 1007 — thigh adjust lock bolt; 1008-shank adjustment locking bolt; 1009 — thigh bar; 200-man-machine connection structure; 2001-back human machine connection; 2002-waist strap; 2003-leg straps; 2004-foot strap; 3001-back multidimensional force sensor; 3002-leg force strap force sensor; 4000-battery.

Detailed Description

In order to more fully understand the technical content of the present invention, the technical solution of the present invention will be further described and illustrated with reference to the following specific embodiments, but not limited thereto.

Fig. 1-15 are detailed structural views of an embodiment of a foot device for detecting plantar pressure and a lower extremity assisting exoskeleton device in accordance with the present invention.

An embodiment 1 of a foot device capable of detecting plantar pressure, as shown in fig. 1-4, comprises an upper sole 2, a lower sole 1, and at least one force sensor 3 disposed between the upper sole 2 and the lower sole 1. A deformation cavity is formed between the upper sole 2 and the lower sole 1, and the deformation cavity is used for accommodating the deformation of the force sensor 3. The upper sole 2 or the lower sole 1 extrudes and deforms the force sensor 3, and the pressure of the foot device is detected through deformation.

The upper sole 2 and the lower sole 1 are made of flexible materials, preferably rubber, polyurethane, leather, PVC and TPR. Both the upper sole 2 and the lower sole 1 comprise a sole portion 12, a waist portion 13 and a heel portion 14.

The force sensor 3 comprises a first sole force sensor 31, a second sole force sensor 32 and a heel force sensor 33, which are all thin plate-shaped structures and horizontally arranged between the upper sole 2 and the lower sole 1. A deformation cavity for accommodating deformation quantities of the first sole force sensor 31, the second sole force sensor 32 and the heel force sensor 33 is arranged between the upper sole 2 or/and the lower sole 1, and the pressure received by each point is detected through the deformation quantities of the first sole force sensor 31, the second sole force sensor 32 and the heel force sensor 33. The pressure detected by the first sole force sensor 31, the second sole force sensor 32 and the heel force sensor 33 is transmitted to a control system, so that the control system controls all the components.

The sole portion of the foot device is provided with a first sole force sensor 31 and a second sole force sensor 32, and the heel portion is provided with a heel force sensor 33, as shown in fig. 2.

The force sensor 3 comprises a deformation sheet 30 and a plurality of sheet-shaped detection pieces 314 arranged on the deformation sheet 30; the deformation sheet 30 comprises a fixing part, a deformation part and a strain beam connecting the deformation part and the fixing part; the number of the deformation parts is at least one, and the stress area can be increased by arranging a plurality of deformation parts, so that the detection result is more accurate, and the reliability is higher; the sheet-shaped detection piece is arranged on each strain beam and used for detecting the deformation amount of the strain beam under pressure and detecting the pressure.

As shown in fig. 1 to 3, 7, 9 to 10, the first sole force sensor 31 and the second sole force sensor 32 are embodiments. First sole force sensor 31 includes first deformation piece 310, and second sole force sensor 32 includes second deformation piece 320, first deformation piece 310, second deformation piece 320 all include fixed part 311, deformation portion 312, and connect strain beam 313 between deformation portion 312 and the fixed part 311, and slice detecting element 314 locates on strain beam 313. The fixing portion 311 is provided with a mounting hole 315 for mounting and positioning. The first extension structure 3111 is disposed on the outer periphery of the fixing portion 311 and the strain beam 313 on the same horizontal plane, so as to increase the force-receiving area of the fixing portion 311. The periphery of the deformation part 312 of the first sole force sensor 31 and the second sole force sensor 32 on the same horizontal plane with the strain beam 313 is provided with a plurality of second extension structures 3121, so that the stress area of the deformation part 312 is increased. The deformation sheet 314 is tightly attached to the strain beam 313.

Specifically, the deformation parts 312 and the strain beams 313 of the first deformation sheet 310 and the second deformation sheet 320 are symmetrically disposed on two sides of the fixing part 311. The fixing portion 311 of the first deformation sheet 310 is further symmetrically provided with first extending structures 3111 at two sides different from the strain beam 313, and second extending structures 3121 are provided at two sides of the deformation portion 312 and one side extending outwards. The fixing portion 311 of the second deformation tab 320 is further symmetrically provided with a first extending structure 3111 at two sides different from the strain beam 313.

The first deformation sheet 310 and the second deformation sheet 320 are arranged in a deformation cavity arranged on the upper sole 2 or the lower sole 1, so that the deformation of the first deformation sheet 310 and the second deformation sheet 320 can be performed in the deformation cavity. Wherein, the deformation cavity is provided with a fixing protrusion 316 for fixedly coupling with the fixing part 311 of the first deformation sheet 310 and the second deformation sheet 320 (the fixing protrusion 316 is mutually matched and fixedly coupled with the mounting hole 315 of the fixing part 311 of the first deformation sheet 310 and the second deformation sheet 320). The deformation cavity is provided with a plurality of supporting protrusions 317A corresponding to the deformation part 312 on the lower sole 1, and the supporting protrusions 317A are contacted with the deformation part 312 at intervals. The deformation chamber is likewise provided with a plurality of blocking projections 317B in the upper sole 2, and the blocking projections 317B are here coupled to the remaining deformation 312 which is not in contact with the supporting projections 317A. That is, one part of the deformation parts 312 of the first deformation sheet 310 and the second deformation sheet 320 is in contact with the blocking protrusions 317B of the upper sole 2, the other part is in contact with the supporting protrusions 317A of the lower sole 1, the upper sole 2 is spaced from the blocking protrusions 317B and the supporting protrusions 317A of the lower sole 1, the spacing area between the two blocking protrusions 317B is a deformation gap, and the spacing area between the two supporting protrusions 317A is a deformation gap. A certain gap is left on the opposite side of the deformation part 312 from the blocking protrusion 317B and the supporting protrusion 317A to accommodate the deformation of the deformation part 312, such as the first deformation cavity corresponding to the deformation part 312 in the present invention.

The first lower deformation chamber 11A is disposed on the lower sole 1 and between the two supporting protrusions 317A of the lower sole 1, and similarly, the upper sole 2 is also disposed with the first upper deformation chamber 11B and between the two blocking protrusions 317B. The support protrusions 317A of the lower sole 1 extrude the deformation part 312 to deform, and deform in the corresponding first upper deformation cavity 11B of the upper sole 2; the deformation part 312 is pressed by the blocking protrusions 317B of the upper sole 2, and the deformation part 312 is deformed in the corresponding first lower deformation chamber 11A of the lower sole 1. The two adjacent deformation parts 312 are pressed by the two blocking protrusions 317B and the supporting protrusions 317B in opposite directions, and the adjacent deformation parts 312 are deformed in opposite directions, so that the sheet-shaped detection part 314 on the strain beam 313 can measure more accurately. When the upper sole 2 and the lower sole 1 are made of soft materials, the design mode has better measuring effect and higher accuracy. Furthermore, the fixing portions 311 of the first deformation sheet 310 and the second deformation sheet 320 are provided with a second deformation cavity 21 on the opposite side of the fixing protrusion 316, so that the fixing portions 311 deform in the second deformation cavity 21. The deformation sheet has a superposition effect on the deformation quantities of the first lower deformation cavity 11A and the second deformation cavity 21 and the deformation quantities of the first upper deformation cavity 11B and the second deformation cavity 21, so that the deformation of the strain beam 313 is more obvious, and the sole of the soft material is more accurately measured.

Fig. 1-3, 7, and 11 show an embodiment of heel-force sensor 33. The heel force sensor 33 includes a heel deformation sheet 330, and the heel deformation sheet 330 includes a heel fixing portion 331, a heel deformation portion 332, and a heel strain beam 333 connecting the heel deformation portion 332 and the heel fixing portion 331, and the sheet-like detecting member 314 is disposed on the heel strain beam 333 (preferably, the sheet-like detecting member 314 is disposed on the spaced heel strain beam 333). The heel deformation part 332 of the heel deformation piece 330 is circumferentially disposed on the outer periphery of the heel fixing part 331, so that the heel deformation part 332 and the heel strain beam 333 are circumferentially disposed on the outer periphery of the heel fixing part 331. The heel deformation piece 330 forms a garland shape, which is beneficial to increasing the stress area of the foot, so that the pressure detection is more accurate.

The heel deformation piece 330 is disposed in a deformation cavity formed by the upper sole 2 and the lower sole 1. The deformation cavity is provided with a fixing bulge 316 which is fixedly connected with the fixing part of the heel deformation sheet 330; the deformation part is provided with a supporting bulge 317A and a blocking bulge 317B at the position corresponding to the upper sole 2 and the lower sole 1. The blocking bulges 317B arranged on the upper sole 2 and the supporting bulges 317A arranged on the lower sole 1 are arranged, and the deformation parts 332 connected with the blocking bulges 317B and the supporting bulges 317A are distributed in a staggered way one by one. The blocking protrusions 317B and the supporting protrusions 317A are arranged at intervals, and the overlapping deformation effect on the sheet-shaped detection piece is favorably formed.

The fixing protrusion 316 is arranged on the upper sole 2 or the lower sole 1 and is fixedly connected with the mounting hole 315 arranged on the heel deformation sheet 330; the lower sole 1 is provided with supporting bulges 317A corresponding to the strain parts 332 at intervals; the upper sole 2 is provided with a blocking protrusion 317B opposite to the heel deformation part 332 at an interval, and the blocking protrusion 317B is different from the supporting protrusion 317A, so that the two adjacent heel deformation parts 332 are respectively contacted with the blocking protrusion 317B and the supporting protrusion 317A. The heel deformation part 332 is in contact with the blocking protrusion 317B and the supporting protrusion 317A at intervals, and the deformation part 312 is in contact with the blocking protrusion 317B and the supporting protrusion 317A of the upper sole 2 and the lower sole 1 at intervals, which are the same in both design types. A certain gap is left on the opposite side of the blocking protrusion 31A of the heel deformation part 332 for accommodating the deformation of the heel deformation part 332, such as a first deformation cavity corresponding to the heel deformation part 332 in the invention. The first lower deformation chamber 11A is arranged on the lower sole 1 and between the two supporting protrusions 317A, and similarly, the upper sole 2 is also provided with a first upper deformation chamber 11B and between the two supporting protrusions 317B. The support protrusions 317A of the lower sole 1 deform the heel deformation part 332 by squeezing, and deform in the corresponding first upper deformation cavity 11B of the upper sole 2; the blocking protrusions 317B of the upper sole 2 squeeze the heel deformation part 332, and the heel deformation part 332 deforms in the first lower deformation cavity 11A of the corresponding lower sole 1. Two adjacent heel deformation portions 332 are squeezed by the blocking protrusions 317B and the supporting protrusions 317A in the opposite directions, and the adjacent heel deformation portions 332 are deformed in the opposite directions respectively, so that the deformation amount of the heel strain beam 333 is increased, and the sheet-shaped detection piece 314 is measured more accurately. When the upper sole 2 and the lower sole 1 are made of soft materials, the design mode has better measuring effect and higher accuracy. In addition, the heel fixing portion 331 of the heel deformation plate 330 is provided with a second deformation cavity 21 on the opposite side of the fixing protrusion 316, so that the heel fixing portion 331 deforms in the second deformation cavity 21. The deformation of the deformation sheet 330 in the first deformation cavity 11A and the second deformation cavity 21 is overlapped, so that the deformation amount of the two deformation sheets 333 is more obvious, and the detection accuracy of the stress sheet 314 attached to the deformation sheets is improved.

Preferably, the heel-deforming part 332 is provided with 3311 heel-extending structures toward the outer circumference in order to increase the force-receiving area.

In other embodiments, the blocking protrusion 317B and the supporting protrusion 317A are respectively provided at upper ends thereof with a snap groove 3171 for fixing the periphery of the deformation portion 312 (the heel deformation portion 332). The upper ends of the blocking protrusion 317B and the supporting protrusion 317A are further provided with mounting posts 3172, and the mounting posts 3172 are fixedly connected with positioning holes 3120 provided in the deformation portion 312 (the heel deformation portion 332332). After the deformation part 312 (heel deformation part 332332) is matched with the clamping groove 3171, the positioning hole 3120 is fixedly connected with the mounting column 3172, and the upper sole 2 and the lower sole 1 are made of soft materials, so that the deformation sheet is favorably and fixedly positioned.

The force sensor 3 adopts the implementation structure, so that the contact and fixed area of the force sensor 3 with the upper sole 2 and the lower sole 1 can be increased, the stress structure is more balanced when bearing pressure, the force sensor 3 can be stably used on the lower sole 1 and the upper sole 2 with flexibility, and the reliability and the measurement accuracy are improved.

Wherein, the embodiment 1 of the foot device shown in fig. 1-4 further comprises a force bearing plate 5 arranged between the upper sole 2 and the lower sole 1. The force bearing plate 5 comprises a sole fixing part 51 and an ankle joint fixing part 52; the sole fixing part 51 is fixedly connected between the upper sole 2 and the lower sole 1 and is positioned at the waist part of the two; the ankle fixing part 52 extends to the outer sides of the upper sole 2 and the lower sole. Because the lower sole 1 and the upper sole 2 are both made of soft materials, the force bearing plate 5 is arranged between the lower sole and the upper sole, which is beneficial to force transmission and ensures the rigidity of the foot device.

Wherein the embodiment 1 of the foot device shown in fig. 1-4 further comprises an upper 4, said upper 4 comprising a lateral portion 41 fixed to the upper sole 2, and an upright portion 42 coupled to both sides of the lateral portion 41; the lateral part 41 is fixed to a mounting groove 22 provided in the upper sole, and the mounting groove 22 is provided in the upper surface of the upper sole.

Fig. 5 shows an embodiment of the upper, wherein the lateral portion 41 has raised portions 42 on both sides, and the lateral portion 41 has a larger area, and fills the mounting grooves 22 formed in the upper sole 2, so that the entire lateral portion 41 is fixed to the upper sole 2, increasing the stress area and the firmness is more reliable.

Fig. 6 shows another embodiment of the upper, in which the lateral portion 41 is a raised extension of the bottom end of the raised portion 42, the lateral portion 41 being fixed in a mounting groove 22 provided at the edge of the upper sole 2. The area of the lateral portion 41 is smaller, increasing the comfort of the sole 2.

The upper surface of the upper sole 2 is provided with a mounting groove 22 at the foot waist part for mounting the transverse part 41; the lower sole 1, the force bearing plate 5, the upper sole 2 and the upper 4 are tightly fixed together by rivets or wires; in order to reinforce the strength of the foot device and to increase the sealing, the upper sole 2 and the lower sole 1 are bonded and sewn together in the vicinity of the edges.

Fig. 7 and 8 show an embodiment of a foot device according to example 2, which is different from example 1 in that an upper 4 and a lower sole 1 are integrally formed. The lower sole 1 is provided with standing portions at both sides or one side of the waist portion to form an upper 4. The lower part of the waist part of the lower sole 1 is provided with a concave cavity 15, and the bearing plate 5 is arranged in the concave cavity 15 of the waist part of the lower sole. The bearing plate gasket 53 is arranged below the bearing plate 5, and the bearing plate gasket 53, the bearing plate 5, the lower sole 1 and the sole 2 are tightly fixed together by rivets or wires.

By adopting the foot device, the force sensor 3 can be embedded into the flexible sole, so that the wearing comfort and the fitness of the foot device are guaranteed; through corresponding protruding and the deformation chamber of blocking of upper sole 2 and lower sole 1 and sheet metal force sensor 3 (deformation piece one side with block protruding contact, the opposite side leaves the deformation space), guarantee plantar pressure measurement's reliability and accuracy. The lower sole 1, the bearing plate 5, the upper sole 2 and the upper 4 are tightly fixed on the instep part, so that the instep part of the foot device is high in strength and good in rigidity, and large force/moment can be transmitted by the foot device. Meanwhile, because the upper sole 2 and the lower sole 1 of the foot device are both provided with flexibility, the influence of the installation stress of the waist part of the foot device on the force measurement of the sole and the heel is small, and the force measurement accuracy of the force sensor 3 is ensured.

For further increasing the intensity of sole, go up sole 2 and sole 1 earlier with gluing well in the edge, reuse line sewing up is favorable to like this go up sole 2 and sole 1 relative position unchangeable down, guarantee force sensor 3's measurement accuracy, still be favorable to sealed, guarantee force sensor 3's reliability.

A lower extremity assisting exoskeleton device is shown in fig. 12 and comprises an assisting support 100, a power supply system, a control system and a man-machine connecting structure 200, wherein the assisting support 100 comprises a power joint device 1000, a waist structure 1003, a shank rod 1004, a thigh rod 1009 and an ankle mechanism 1005. The powered joint arrangement 1000 is arranged between the waist structure 1003 and the thigh bar 1009 and between the thigh bar 1009 and the shank bar 1004; the relative extension or flexion between the lumbar structure 1003 and the thigh bar 1009, and between the thigh bar 1009 and the shank bar 1004, is controlled by the powered joint arrangement 1000. Ankle mechanism 1005 includes the foot apparatus described above.

In order to be suitable for wearing by two legs of a human body, the device is symmetrically arranged.

Wherein the ankle structure 1005 is shown in figures 13-14. The ankle structure 1005 further includes an ankle brace 6 with an ankle joint angle measuring mechanism 9 between the ankle brace 6 and the lower leg stem 1004. The ankle pylon 6 comprises an upper pylon 62 rotatably coupled to the shank 1004, and a lower pylon 61 rotatably coupled to the upper pylon 62 in the vertical direction; the lower support 61 is rotatably connected with a bearing plate 5 arranged on the foot device in the horizontal direction. The foot device is rotatable in the front-rear direction about the lower leg lever 1004 and also in the horizontal direction about the coupling point of the lower bracket 61 and the foot device by the ankle bracket 6, and the upper bracket 62 and the lower bracket 61 are mutually rotated in the vertical direction to rotate the foot device in the vertical direction. Three degrees of freedom are possible with the foot device described above.

Specifically, the lower bracket 61 rotates relative to the upper bracket 61 about a vertical rotation axis 63.

More specifically, the ankle pylon 6 is rotatably coupled to the foot apparatus along a adduction-abduction axis 64. The upper bracket 62 and the lower bracket 61 are rotationally connected, so that the flexibility of the wearer in turning can be improved; the rotational coupling of the lower support frame 61 to the foot means facilitates the adaptation of the exoskeleton device to different terrain.

As shown in fig. 14, the ankle joint angle measuring mechanism 9 includes a magnet 91 and a magnetic field sensing circuit 92, the magnet 91 is mounted on the ankle brace 6, and the magnetic field sensing circuit 92 is mounted on the calf pole 1004 (or the magnet 91 is mounted on the calf pole 1004, and the magnetic field sensing circuit 92 is mounted on the ankle brace 6), and the relative rotation between the ankle brace 6 and the calf pole 1004 drives the relative rotation between the magnet 91 and the magnetic field sensing circuit 92. The ankle joint angle measuring mechanism 9 can accurately sense the angle between the shank 1004 and the ankle mechanism 1005, and is beneficial to a control system to improve the response speed of the lower limb assistance exoskeleton device.

Specifically, the ankle support 6 is provided with a rotating cavity 65, and the rotating cavity 65 is provided with an ankle joint shaft 7; the shank 1004 is rotatably coupled with the ankle joint shaft 7; a concave part 10041 is arranged at one end of the shank 1004 in the rotating cavity 65; the magnet 91 is provided at one end of the ankle joint shaft 7 extending to the recess 10041; the magnetic field induction circuit 92 is disposed inside the recess 10041 and corresponds to the magnet 91.

Specifically, the ankle joint shaft 7 includes a first ankle joint shaft 71 and a second ankle joint shaft 72. The first and

second ankle shafts

71 and 72 are fixed to the corresponding inner walls of the rotation chamber 65, respectively. The calf shank 1004 is provided with two extension plates in the rotation chamber 65, and the two extension plates are rotatably coupled to the first ankle joint shaft 71 and the second ankle joint shaft 72, respectively, through the ankle bearing 8. Preferably, the magnet 91 is disposed at one end of the first and

second ankle shafts

71 and 72 at the rotation chamber 65.

In other embodiments, the shank 1004 is provided with a rotation cavity 65, and the rotation cavity 65 is provided with the ankle joint shaft 7; the ankle brace 6 is rotationally coupled with an ankle joint shaft 7; a concave part 10041 is arranged at one end of the ankle support 6 in the rotating cavity 65; the magnet 91 is provided at one end of the ankle joint shaft 7 extending to the recess 10041; the magnetic field induction circuit 92 is disposed inside the recess 10041 and corresponds to the magnet 91.

As shown in fig. 15, the power joint device 1000 includes a joint body 1001 and a power device 1002 provided in the joint body, wherein the joint body 1001 includes an upper arm 10011 and a lower arm 10012 having a relative motion with the upper arm 10011; the power device 1002 comprises a power member 10021 and a speed reducing mechanism 10022 fixed to a power output end of the power member 10021; the power member 10021 is fixed to the lower arm 10012, and the power output end of the speed reducing mechanism 10022 is coupled to the upper arm 10011, so that the power member 10021 drives the upper arm 10011 to move relative to the lower arm 10012; or the power member 10021 is fixed to the upper arm 10011, and the power output end of the speed reducing mechanism 10021 is coupled with the lower arm 10021, so that the lower arm 10012 and the upper arm 10011 have relative movement.

The power joint device 1000 further includes a first angle measuring mechanism 10013, a second angle measuring mechanism 10014, and a moment measuring mechanism 10015. The first angle measuring mechanism 10013 is used to measure the rotation angle of the power member 10021. The second angle measuring mechanism 10014 is used to measure the relative rotation angle of the upper arm 10011 and the lower arm 10012. The moment measuring mechanism 10015 is configured to detect the torque of the upper arm 1 and the lower arm 2.

Specifically, the lower end of the waist structure 1003 is connected to the upper arm 10011 of the hip joint body 1001, the lower end of the thigh lever 1009 is connected to the upper arm 10011 of the knee joint body 1001, the upper end of the thigh lever 1009 is connected to the lower arm 10012 of the joint body 1001, and the upper end of the shank lever 1004 is connected to the lower arm 10012 of the joint body 1001.

The lower end of the joint main body 1001 is provided with a sliding groove, the upper ends of the thigh rod 1009 and the shank rod 1004 extend into the sliding groove and can slide up and down, and the joint main body 1001 is provided with a locking bolt to form a length adjusting and locking structure. The joint main body 1001 is locked with the thigh rod 1009 and the shank rod 1004 after the length is adjusted by a length adjusting and locking structure. The lower end of the shank 1004 is connected to an ankle mechanism 1005 via an ankle joint axis 1006.

Specifically, powered joint arrangement 1000 includes a hip joint arrangement 1000A and a knee joint arrangement 1000B. Disposed between the lumbar structure 1003 and the thigh bar 1009 is a hip joint device 1000A, and disposed between the thigh bar 1009 and the shank bar 1004 is a knee joint device 1000B.

The thigh rod 1009 is inserted into a sliding groove at the lower end of the hip joint device 1000A, the insertion depth is adjusted, and the thigh rod 1009 is fixedly connected with the sliding groove by a thigh adjusting locking bolt 1007. Similarly, the shank bar 1004 is inserted into a slide groove at the lower end of the knee joint device 1000B, the insertion depth is adjusted, and the shank bar 1004 is fixedly coupled to the slide groove by providing a shank length adjustment lock bolt 1008.

The control system is electrically connected to the first angle measuring mechanism 10013, the second angle measuring mechanism 10014, the moment measuring mechanism 10015, the ankle joint angle measuring mechanism 9 on the ankle joint mechanism 1005, and the power piece 10021 in the power joint device 1000. The control system controls the rotation of the power element 10021 through the measurement results of the first angle measurement mechanism 10013, the second angle measurement mechanism 10014, the ankle angle measurement mechanism 9 and the moment measurement mechanism 10015, so that the power element 10021 drives the waist structure 1003 and the thigh rod 1009, and the thigh rod 1009 and the shank rod 1004 to extend or bend. The power system is a battery pack 4000, electrically connected to the power element 10021 and the control system, and configured to provide electric energy to the power element and the control system. Wherein, the battery pack 4000 is disposed on the man-machine connection structure 200.

The ergonomic attachment structure 200 includes a back ergonomic attachment 2001, a waist strap 2002, a thigh strap 2003, and a foot strap 2004 (upper 4). The man-machine connecting structure 200 is fixedly connected with the corresponding part of the human body, so that the power-assisted support 100 is firmly connected with the lower limbs of the human body.

Force sensors are further arranged between the man-machine connection structure 200 and the power-assisted support 100, and each force sensor comprises a back force sensor 3001 arranged between the back man-machine connection 2001 and the waist structure 1003, and a thigh force sensor 3002 arranged between the thigh strap 2003 and the thigh rod 1009. The force sensors are electrically connected with the control system. Preferably, the lower leg bar 1004 is provided with a lower leg strap, and a lower leg force sensor is arranged between the lower leg strap and the lower leg bar 1004.

In order to improve the comfort level of wearing, the lower ends of the thigh rods 1009 and the shank rods 1004 in the lower limb assisting exoskeleton device structure of the present embodiment are both bent inward to better fit the legs of the wearer, and the waist structure 1003 is also contracted inward to better fit the waist of the wearer. The waist structure 1003 of the waist and the exoskeleton equipment of the wearer is connected by adopting the back man-machine connection 2001 which accords with an ergonomic curve, so that the fixation is firmer and the wearing is more comfortable.

The lower limb assistance exoskeleton equipment of the embodiment has a compact and close-fitting structure and high integration level, and by adopting the power joint device 1000 of the invention as a joint device of the lower limb assistance exoskeleton, more information can be measured, including joint torque, an angle, angular velocity and acceleration between the waist structure 1003 and a thigh, an angle, angular velocity and acceleration between the thigh and a shank and a rotation angle of the power part 10021, and a control system of the lower limb assistance exoskeleton equipment can implement more accurate and flexible control.

The lower limb assisting exoskeleton device transmits pressure and angle data to a control system through pressure detection and angle detection of a foot device, then the control system processes and judges the data, and further sends out an instruction for controlling the power joint device 1000 according to the judgment so as to enable the power piece 10021 of the power joint device 1000 to act and adjust the relative positions of the foot device, the thigh rod 1009, the shank rod 1004 and other parts.

In summary, the foot device capable of detecting the pressure of the sole of the foot according to the present invention improves the performance of the foot device by detecting the pressure between the upper sole and the lower sole through the force sensors disposed between the upper sole and the lower sole.

Go up the sole interval and be equipped with the deformation portion that a plurality of and deformation piece correspond and block the arch, and the deformation portion of here is equipped with the deformation chamber that holds deformation portion deformation at last sole. The lower sole is also provided with a plurality of blocking bulges corresponding to the deformation parts at intervals, and the blocking bulges are positioned between the two blocking bulges of the upper sole, so that the design can accurately detect the pressure between the upper sole and the lower sole which are made of soft materials. And an ankle joint angle measuring mechanism is arranged between the ankle support and the shank rod, so that the rotation angle between the shank rod and the foot device can be accurately measured, the improvement of the exoskeleton control shape performance is facilitated, the cost is low, and the reliability is high.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.

Claims

1. A foot device capable of detecting plantar pressure is characterized by comprising an upper sole, a lower sole and at least one force sensor arranged between the upper sole and the lower sole; a deformation cavity is formed between the upper sole and the lower sole and is used for accommodating the deformation of the force sensor; the upper sole or the lower sole extrudes and deforms the force sensor to detect the pressure of the foot device; the force sensor comprises a deformation sheet and at least one sheet-shaped detection piece arranged on the deformation sheet; the deformation sheet comprises a fixing part, a deformation part and a strain beam connected between the deformation part and the fixing part; at least two deformation parts are arranged; the sheet-shaped detection piece is arranged on the strain beam; the deformation sheet is arranged in the deformation cavity; the deformation cavity is provided with a fixing bulge which is used for being sleeved with the fixing part of the deformation sheet; the upper sole and the lower sole are provided with blocking bulges and supporting bulges which are connected with the deformation parts, and the deformation parts connected with the blocking bulges and the supporting bulges are distributed in a staggered way one by one.

2. The foot device capable of detecting plantar pressure according to claim 1, characterized in that the fixing protrusions are arranged on the upper sole or the lower sole and fixedly connected with the mounting holes formed on the shape-changing pieces; supporting bulges corresponding to the strain parts are arranged at intervals on the lower sole; the upper sole is provided with blocking bulges corresponding to the deformation parts at intervals, and the blocking bulges are different from the supporting bulges so that the two adjacent deformation parts are respectively contacted with the blocking bulges and the supporting bulges.

3. The foot device capable of detecting plantar pressure according to claim 2, characterized in that the blocking protrusions and the supporting protrusions are provided at upper ends thereof with clamping grooves for fixing the periphery of the deformation parts; the upper ends of the blocking bulges and the supporting bulges are also provided with mounting columns, and the mounting columns are fixedly connected with mounting holes arranged on the deformation parts.

4. The foot device capable of detecting plantar pressure according to claim 1, wherein the upper sole and the lower sole are both made of flexible materials; the force sensor is horizontally arranged between the upper sole and the lower sole.

5. The foot device capable of detecting plantar pressure according to claim 1, further comprising a force bearing plate; the force bearing plate comprises a sole fixing part and an ankle joint fixing part; the sole fixing part is fixedly connected to the upper side of the upper sole, between the upper sole and the lower side of the lower sole; the ankle joint fixing part extends to the outer sides of the upper sole and the lower sole.

6. The foot device capable of detecting plantar pressure according to claim 5, further comprising an upper; the upper comprises a transverse part fixed with the upper sole and upright parts connected with two sides of the transverse part; the horizontal portion is fixed in the mounting groove that last sole was equipped with, and the upper surface of last sole is located to the mounting groove.

7. The foot device capable of detecting plantar pressure according to claim 1, characterized in that the lower sole is provided with an upright part on one side or both sides of the waist part, and the upright part is formed into an upper; the lower surface of the lower sole is provided with a concave cavity; the concave cavity is provided with a bearing plate.

8. The foot device capable of detecting plantar pressure according to claim 1, wherein the force sensors include a heel force sensor disposed corresponding to a heel of a human body and a sole force sensor disposed corresponding to a sole of the human body; the heel force sensor is provided with a heel deformation sheet, and the sole force sensor is provided with a sole deformation sheet; the deformation part of the heel deformation sheet is annularly arranged on the periphery of the fixing part; the deformation parts of the sole deformation pieces are arranged on two sides of the fixing part.

9. A lower limb assistance exoskeleton device comprises a power joint device, a waist structure, a thigh rod, a shank rod and an ankle mechanism; wherein the ankle mechanism comprises a foot apparatus as defined in any one of claims 1 to 8; the waist structure and the thigh rod as well as the thigh rod and the shank rod are connected through dynamic joint devices; the lower leg rod is rotationally connected with the ankle mechanism; the relative extension or bending between the waist structure and the thigh rod and between the thigh rod and the shank rod is controlled by the power joint device.

10. The lower extremity assisting exoskeleton device of claim 9 wherein said ankle mechanism further comprises an ankle brace; the ankle support comprises an upper support rotationally connected with the shank rod and a lower support rotationally connected with the upper support in the vertical direction; the lower support is rotatably connected with a bearing plate arranged on the foot device in the horizontal direction.

11. The lower extremity assisting exoskeleton device of claim 9 wherein said ankle mechanism further comprises an ankle brace; an ankle joint angle measuring mechanism is arranged between the ankle support and the shank rod; the ankle joint angle measuring device comprises a magnet and a magnetic field induction circuit; the magnet is arranged on the ankle support, the magnetic field induction circuit is arranged on the shank, and the relative rotation between the ankle support and the shank drives the relative rotation between the magnet and the magnetic field induction circuit to detect the angle between the shank and the ankle support.

12. The lower extremity assisting exoskeleton device of claim 11 wherein the ankle support is provided with a rotation chamber and the rotation chamber is provided with an ankle joint axis; the shank rod is rotationally connected with the ankle joint shaft; one end of the shank rod in the rotating cavity is provided with a concave part; the magnet is arranged at one end of the ankle joint shaft extending to the concave part; the magnetic field induction circuit is arranged on the inner side of the concave part and corresponds to the magnet;