CN111067539A - Gas sensitive sensing shoes for loading exoskeleton - Google Patents
Gas sensitive sensing shoes for loading exoskeleton Download PDFInfo
- Publication number
- CN111067539A CN111067539A CN201911276318.1A CN201911276318A CN111067539A CN 111067539 A CN111067539 A CN 111067539A CN 201911276318 A CN201911276318 A CN 201911276318A CN 111067539 A CN111067539 A CN 111067539A
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- China
- Prior art keywords
- air bag
- pressure
- exoskeleton
- pipeline
- gas
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- 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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6804—Garments; Clothes
- A61B5/6807—Footwear
Abstract
The invention provides a gas sensitive sensing shoe for loading exoskeleton, which comprises: the device comprises an air bag (1), a pipeline (2), a pressure sensitive device (3) and a shell coating structure (4); the air bag (1), the pipeline (2) and the pressure sensitive device (3) are arranged on the shell coating structure (4); the air bag (1) is connected with the pressure sensitive device (3) through a pipeline (2); the air bag (1) is a hose distributed air bag; the air bag (1) is a soft air bag. The invention has light structure, adopts the gas sensitive scheme to collect the pressure information, and has simple structure, convenient manufacture and low processing cost; the pressure information is accurately and reliably acquired, the pressure is acquired through the pressure sensitive device, the multi-gear trigger type or pressure transmitter type scheme can quickly sense and detect the obtained plantar pressure information, and the gait information of the loaded exoskeleton can be conveniently judged.
Description
Technical Field
The invention relates to the technical field of load-bearing exoskeleton sensing shoes, in particular to a gas-sensitive sensing shoe for load-bearing exoskeleton.
Background
In the load exoskeleton technology, foot pressure information can reflect load and gait information of the load exoskeleton, and the aim can be achieved by collecting pressure information of the load exoskeleton sensing shoes. The sole pressure information is an important input quantity in the load exoskeleton control technology, and the reliability and stability of signals of the sole pressure information play an important role in the whole load exoskeleton control system; meanwhile, the sensing shoe of the loading exoskeleton system is used as an external load in the action process of a human body, and the weight of the sensing shoe needs to be controlled, so that the interference of the loading exoskeleton system on the motion process of the human body is reduced. The traditional sports energy consumption monitoring shoe based on the flexible force-sensitive sensor and the monitoring method thereof, as disclosed in patent document CN104473650B, include sports shoes and wristwatches with flexible force-sensitive sensing insoles. The flexible force-sensitive sensing insole in the sports shoe collects plantar pressure distribution information of a user in real time and transmits the plantar pressure distribution information to the wristwatch in a ZigBee wireless mode, and the wristwatch substitutes parameters such as plantar pressure distribution information, age, height, lower limb length and the like into the sports energy consumption model to obtain sports energy consumption information and stores and displays the energy consumption information.
The traditional loading exoskeleton sole pressure acquisition scheme cannot give consideration to both reliability and portability, and the two factors are exactly two most important aspects in the loading exoskeleton sensing shoe technology.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a gas sensitive sensing shoe for a load-bearing exoskeleton.
According to the invention, the gas sensitive sensing shoe for the loading exoskeleton comprises: the device comprises an air bag 1, a pipeline 2, a pressure sensitive device 3 and a shell coating structure 4;
the air bag 1, the pipeline 2 and the pressure sensitive device 3 are arranged on the shell coating structure 4;
the air bag 1 is connected with a pressure sensitive device 3 through a pipeline 2.
Preferably, the balloon 1 is a hose-distributed balloon.
Preferably, the balloon 1 is a soft balloon.
Preferably, the pressure sensitive device 3 is a multi-gear trigger type pressure sensitive device.
Preferably, the pressure sensitive device 3 is a pressure transmitter.
Preferably, the airbag 1 is plural.
Preferably, the balloon 1 is sealingly connected to the conduit 2.
Preferably, the pipe 2 is hermetically connected with the pressure sensitive device 3.
Preferably, the hose distributed airbag is formed by winding a pipeline 2.
Preferably, the bladder 1 is disposed in a forefoot position and a heel position or a instep position of the sensing shoe.
Compared with the prior art, the invention has the following beneficial effects:
1. the structure is light, the pressure information is acquired by adopting a gas sensitive scheme, the structure is simple, the manufacture is convenient, and the processing cost is low.
2. The pressure information is accurately and reliably acquired, the pressure is acquired through the pressure sensitive device, the multi-gear trigger type or pressure transmitter type scheme can quickly sense and detect the obtained plantar pressure information, and the gait information of the loaded exoskeleton can be conveniently judged.
3. The sole pressure sensing mode in a gas sensitive mode is adopted, the performance is reliable, the interference is not easy to happen, and the application range of the loaded exoskeleton is expanded.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of the whole structure of the gas-sensitive sensing shoe for the loading exoskeleton provided by the invention.
FIG. 2 is a schematic diagram of the arrangement of the gas-sensitive sensor shoe hose distributed airbag for the loading exoskeleton provided by the invention.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to 2, the gas-sensitive sensing shoe for loading exoskeleton provided by the present invention comprises: the device comprises an air bag 1, a pipeline 2, a pressure sensitive device 3 and a shell coating structure 4; the air bag 1, the pipeline 2 and the pressure sensitive device 3 are arranged on the shell coating structure 4; the air bag 1 is connected with a pressure sensitive device 3 through a pipeline 2. The air bag 1 is a hose distributed air bag. In a preferred embodiment, the air bag is positioned at the bottom of the shoe and is used for bearing the weight of the loaded exoskeleton, the air pipeline is used for transmitting air pressure, and the air pressure sensing device is used for reflecting sole pressure information. Air bags come in a variety of forms and quantities: in quantity, the sole can adopt a soft air bag or a mode of uniformly distributing a plurality of air bags; in terms of form, the device has various forms such as a hose distribution type or a soft air bag type, and the like, as shown in figure 2; the gas pressure sensitive device has multiple gear triggering types or pressure transmitters and other forms. In a preferred embodiment, the pressure sensitive device 3 adopts a multi-gear triggering type or a pressure transmitter type, and the multi-gear triggering type collects load and gait information of the load exoskeleton by setting different gears; the pressure transmitter mode directly gathers gas pressure, gathers sole pressure and gait information.
Further, the air bag 1 is a soft air bag; the pressure sensitive device 3 is a multi-gear trigger type pressure sensitive device; the pressure sensitive device 3 is a pressure transmitter; the number of the air bags 1 is plural. In a preferred embodiment, the air bags 1 are respectively arranged at the front sole position and the rear heel position of the shoe body, or 1 air bag is adopted on the whole foot surface; the air bag 1 is filled with air, and the air bag can be attached to the instep after the shoe body is placed; the air bag, the pipeline and the pressure sensitive device have higher sealing requirement; the soft air bag is made of soft material and is enveloped into a bag-shaped structure, and the interior of the bag-shaped structure is filled with air. In a preferred embodiment, the diameter of the gas pipeline is matched with the diameter of the air bag and the pressure sensitive device interface, and a special process is adopted after connection to ensure the sealing performance of the two connecting parts.
Further, the air bag 1 is connected with the pipeline 2 in a sealing way; the pipeline 2 is hermetically connected with the pressure sensitive device 3; the hose distributed air bag is formed by winding a pipeline 2. The air bag 1 is arranged at the position of the front sole and the position of the back heel or the position of the instep of the sensing shoe. In a preferred embodiment, the pressure sensing device can extract pressure change information in the sole air bag so as to judge gait information of the loaded exoskeleton and a human body. The gas sensitive sensing shoe for the loading exoskeleton further comprises a shell coating structure for protecting and supporting an air bag, a pipeline and a pressure sensitive device; one end of the pipeline is connected with the air bag, and the other end of the pipeline is connected with the pressure sensitive device, so that the pressure sensitive device is communicated with the pressure-bearing air bag cavity through the pipeline. In a preferred embodiment, the hose is distributed in a manner that the hose is wound into a certain shape according to a certain mode, the size of the hose is suitable for the sole of a human body, and the exoskeleton system wearing a load on the human body steps on the hose to cause the hose to deform, so that the pressure of the inner cavity is changed. The existing air bag model is manufactured or introduced and placed under the shoe body, and pressure information or front and back gait information can be acquired by adopting a method that one air bag is used on the whole sole or one air bag is used on each of the front sole and the back sole.
Furthermore, the gas-sensitive sensing shoes for the loading exoskeleton are specifically used as follows: firstly, air is filled in an air bag 1, the air bag 1 is connected with a pressure sensitive device 3 through a pipeline 2, and the air is locked in a closed containing cavity through a special tool. Finally, the air bag 1, the pipeline 2 and the pressure sensitive device 3 are placed in the shell coating structure 4 and are placed on the load-bearing exoskeleton shoe body structure. After the loading exoskeleton is worn on a human body, the foot surface steps on the shoe body, the air bag 1 on the sole develops the change of the sensed pressure and feeds back the pressure information to the pressure sensitive device 3, and then the information is acquired into the loading exoskeleton control system, so that the loading exoskeleton loading information is identified. When the load exoskeleton starts to walk, the change of the pressure of the foot sole caused by gait is recognized by the load exoskeleton control system, asynchronous state information can be recognized through an effective algorithm, and the subsequent output control of the load exoskeleton force is developed. In summary, the gas-sensitive sensing shoes for the loading exoskeleton are suitable for loading exoskeleton systems or other forms of intelligent shoes. The device can prepare and conveniently detect the foot sole pressure information of the load exoskeleton, can accurately reflect gait information, and provides foot sole pressure and gait input for the load exoskeleton control system; and has the structural characteristics of portability and reliability.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A gas-sensitive sensing shoe for a loaded exoskeleton, comprising: the device comprises an air bag (1), a pipeline (2), a pressure sensitive device (3) and a shell coating structure (4);
the air bag (1), the pipeline (2) and the pressure sensitive device (3) are arranged on the shell coating structure (4);
the air bag (1) is connected with the pressure sensitive device (3) through a pipeline (2).
2. The gas-sensitive sensing shoe for weight-bearing exoskeletons of claim 1, wherein the air bag (1) is a hose-distributed air bag.
3. The gas-sensitive sensing shoe for weight-bearing exoskeletons according to claim 1, wherein the air cells (1) are soft air cells.
4. The gas-sensitive sensing shoe for loaded exoskeletons of claim 1, wherein the pressure-sensitive device (3) is a multi-shift trigger-type pressure-sensitive device.
5. The gas-sensitive sensing shoe for loaded exoskeletons of claim 1, wherein the pressure-sensitive device (3) is a pressure transducer.
6. The gas-sensitive sensing shoe for load-bearing exoskeletons according to claim 1, wherein the air bag (1) is plural.
7. The gas-sensitive sensing shoe for load-bearing exoskeletons according to claim 1, wherein the air bag (1) is hermetically connected to the pipeline (2).
8. The gas-sensitive sensing shoe for exoskeleton of claim 1, wherein the pipeline (2) is hermetically connected with the pressure-sensitive device (3).
9. The gas-sensitive sensing shoe for load-bearing exoskeletons of claim 2, wherein the hose-distributed air bag is wound with a pipeline (2).
10. Gas-sensitive sensing shoe for loaded exoskeletons according to claim 1, characterized in that the air-bag (1) is arranged in the forefoot position and the heel position or the instep position of the sensing shoe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276318.1A CN111067539A (en) | 2019-12-12 | 2019-12-12 | Gas sensitive sensing shoes for loading exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276318.1A CN111067539A (en) | 2019-12-12 | 2019-12-12 | Gas sensitive sensing shoes for loading exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111067539A true CN111067539A (en) | 2020-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911276318.1A Pending CN111067539A (en) | 2019-12-12 | 2019-12-12 | Gas sensitive sensing shoes for loading exoskeleton |
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| CN (1) | CN111067539A (en) |
Citations (9)
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|---|---|---|---|---|
| US7523565B1 (en) * | 2006-02-21 | 2009-04-28 | Kuang Ming Chen | Shoes comprising air cushioning system, air lightweight system, and air pressure alert system |
| CN204839540U (en) * | 2015-07-20 | 2015-12-09 | 刘洪敏 | Blood sampling auxiliary device |
| CN106092379A (en) * | 2016-06-14 | 2016-11-09 | 中国科学院合肥物质科学研究院 | A kind of ectoskeleton disabled aiding robot inflated type pressure transducer |
| CN106404244A (en) * | 2016-08-31 | 2017-02-15 | 歌尔股份有限公司 | Pressure sensor and signal calibration method thereof |
| US20170056264A1 (en) * | 2014-02-13 | 2017-03-02 | William Lawrence Chapin | Soliton Traveling Wave Air Mattresses |
| CN106840469A (en) * | 2015-12-04 | 2017-06-13 | 上海新微技术研发中心有限公司 | Pressure sensor integrated with multiple gears and manufacturing method thereof |
| CN107825430A (en) * | 2017-09-27 | 2018-03-23 | 深圳市行者机器人技术有限公司 | A kind of robot foot section structure and pressure detection method based on air pressure detection |
| CN109115386A (en) * | 2018-09-30 | 2019-01-01 | 中国船舶重工集团公司第七0七研究所 | A kind of plantar pressure measuring device for wearable ectoskeleton power-assisting robot |
| WO2019175899A1 (en) * | 2018-03-15 | 2019-09-19 | On My Own Technology Pvt Ltd | Wearable device for gait analysis |
-
2019
- 2019-12-12 CN CN201911276318.1A patent/CN111067539A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7523565B1 (en) * | 2006-02-21 | 2009-04-28 | Kuang Ming Chen | Shoes comprising air cushioning system, air lightweight system, and air pressure alert system |
| US20170056264A1 (en) * | 2014-02-13 | 2017-03-02 | William Lawrence Chapin | Soliton Traveling Wave Air Mattresses |
| CN204839540U (en) * | 2015-07-20 | 2015-12-09 | 刘洪敏 | Blood sampling auxiliary device |
| CN106840469A (en) * | 2015-12-04 | 2017-06-13 | 上海新微技术研发中心有限公司 | Pressure sensor integrated with multiple gears and manufacturing method thereof |
| CN106092379A (en) * | 2016-06-14 | 2016-11-09 | 中国科学院合肥物质科学研究院 | A kind of ectoskeleton disabled aiding robot inflated type pressure transducer |
| CN106404244A (en) * | 2016-08-31 | 2017-02-15 | 歌尔股份有限公司 | Pressure sensor and signal calibration method thereof |
| CN107825430A (en) * | 2017-09-27 | 2018-03-23 | 深圳市行者机器人技术有限公司 | A kind of robot foot section structure and pressure detection method based on air pressure detection |
| WO2019175899A1 (en) * | 2018-03-15 | 2019-09-19 | On My Own Technology Pvt Ltd | Wearable device for gait analysis |
| CN109115386A (en) * | 2018-09-30 | 2019-01-01 | 中国船舶重工集团公司第七0七研究所 | A kind of plantar pressure measuring device for wearable ectoskeleton power-assisting robot |
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Application publication date: 20200428 |
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