CN111671393A

CN111671393A - High-precision sensor and application thereof in force-measuring insoles

Info

Publication number: CN111671393A
Application number: CN202010163999.7A
Authority: CN
Inventors: 郑庆生
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-03-11
Filing date: 2020-03-10
Publication date: 2020-09-18
Also published as: WO2020181902A1

Abstract

The invention belongs to the field of high-precision flexible pressure sensors, and is also applied to a force measuring insole. The invention combines the elastic conductor with the mature resistance screen and capacitance screen technology, becomes a technical scheme with high precision, low cost and high maturity, and greatly improves the position precision of the touch sensor compared with a single-point array touch sensor. The theoretical resolution of the resistance screen structure and the capacitance screen structure can reach the pixel level, and each distinguishable point is equivalent to one point of a single-point array sensor. The size and the characteristics of the force can be analyzed according to different selections of the thickness, the shape and the electrical conductivity of the elastic conductor, and the application prospect is larger.

Description

High-precision sensor and application thereof in force-measuring insoles

The invention belongs to the field of high-precision flexible pressure sensors, and is also applied to a force measuring insole. The invention combines the elastic conductor with the mature resistance screen and capacitance screen technology, and becomes a technical scheme with high precision, low cost and high maturity.

Technical background: the technology of applying an elastic conductor to a sensor is the current hot topic, generally conductive rubber is selected as a force sensitive component, force signals are converted into electric signals by utilizing the characteristics of force sensitive resistance of the force sensitive component, the force sensitive component is mainly used for single-point sensors, the requirement of slightly larger area is met, and the force sensitive component is realized in a multi-point array mode of lattice arrangement. An authorized Chinese national invention patent (publication number CN201210193314.9) discloses a humanoid robot multi-finger flexible three-dimensional force touch sensor and a three-dimensional force detection system thereof of Harbin industry university. The sensor adopts a pressure-sensitive composite material Quantum Tunnel Composites (QTC) with quantum tunnel effect, when the QTC is not pressed by external force, the body is an insulator, when the QTC is pressed by external force, the body is compressed and deformed, the QTC has conductive property, and the resistance value of the resistor is gradually reduced along with the increase of the pressure. An issued Chinese national invention patent (patent number: CN201410451649.5) discloses a pressure sensitive conductive rubber-based flexible tactile and slippery sensation composite sensing array at Zhejiang university. The Inastomer conductive rubber produced by INABA company of Japan has excellent piezoresistive property, hysteresis performance and linearity, has good pressure sensitive effect on slight vibration, and can detect high-frequency and low-amplitude sliding signals. Said invention is limited in distribution effect of plane measuring force, poor in plane resolution precision of lattice structure, low in technical maturity and practicability and high in cost.

A conductive rubber. The basic principle of the conductive rubber for measuring the force of the sensor is as follows: under the pressure action of a certain range, the resistance value of the conductive rubber is gradually reduced along with the increase of the pressure, and the conductive rubber with good performance can be changed into conduction from insulation under the pressure action. At present, pressure sensitive conductive rubber added with conductive particles is widely concerned by people. The conductive rubber has good flexibility and wear resistance, the resistance value of the material changes along with the change of stress in a certain stress range, and the material has good piezoresistive property. The conductive rubber force sensitive sensor is a novel sensor designed by utilizing the piezoresistive property of a conductive material. However, the force sensitivity of conductive rubber is utilized to produce fewer products, and particularly, sensors made of conductive rubber are still few. The conductive rubber force sensor can also be used as a touch sensor. The pressure-sensitive conductive rubber has the characteristics of high sensitivity, integration and intellectualization, flexibility, high elasticity, medium corrosion resistance, relatively simple processing process, large area production and the like. Therefore, the strain-resistance sensitive material is another large category and has an irreplaceable importance. Pressure sensitive conductive rubber is one of the suitable sensitive materials for making a tactile sensor. The pressure-sensitive conductive rubber can be used for manufacturing various pressure-sensitive sensors for touch sense and artificial hand of various robots, various force-sensitive sensors, various contact touch surface switch elements, switch panels of high-density word processors, symbol image reading devices of computers, and filters.

The resistive touch screen is a sensor with wide application, basically has a structure of a film and glass or organic glass, and ITO (nano indium tin metal oxide) coatings are coated on the adjacent surfaces of the film and the glass, and the ITO has good conductivity and transparency. When the touch operation is performed, the ITO on the lower layer of the film is contacted with the ITO on the upper layer of the glass, corresponding electric signals are transmitted through the sensor and are sent to the processor through the conversion circuit, the signals are converted into X, Y values on the screen through operation, and the clicking action is completed and is displayed on the screen. The working principle of the resistance touch screen is mainly that the operation and control of the screen content are realized through the pressure sensing principle, the screen body part of the resistance touch screen is a multilayer composite film which is matched with the surface of a display very well, wherein the first layer is a glass or organic glass bottom layer, the second layer is an interlayer, the third layer is a multi-element resin surface layer, the surface of the resistance touch screen is also coated with a transparent conducting layer, and the surface of the resistance touch screen is covered with a plastic layer of which the outer surface is hardened and smoothly prevented from being scraped. The conducting layer on the surface of the multi-component grease surface layer and the glass layer sensor are separated by a plurality of tiny interlayers to lead current to pass through the surface layer, when the surface layer is lightly touched and pressed down, the bottom layer is touched, and the controller simultaneously reads out the matched current from four corners and calculates the distance of the finger position. The touch screen is formed by two highly transparent conductive layers, and the distance between the two layers is only 2.5 microns. When a finger touches the screen, two layers of conducting layers which are insulated from each other usually have one contact at a touch point, one conducting layer is connected with a 5V uniform voltage field in the Y-axis direction, so that the voltage of a detection layer is changed from zero to nonzero, after the controller detects the connection, A/D conversion is carried out, the obtained voltage value is compared with 5V, the Y-axis coordinate of the touch point can be obtained, and the X-axis coordinate is obtained in the same way, which is the common basic principle of all resistance technology touch screens.

The capacitive touch screen technology works by using current induction of a human body. The capacitive touch screen is a four-layer composite glass screen, the inner surface and the interlayer of the glass screen are respectively coated with one layer of ITO, the outermost layer is a thin-layer silica glass protective layer, the interlayer ITO coating serves as a working surface, four electrodes are led out from four corners, and the inner layer of ITO serves as a shielding layer to guarantee a good working environment. When a finger touches the metal layer, a coupling capacitance is formed between the user and the touch screen surface due to the electric field of the human body, and for high frequency currents, the capacitance is a direct conductor, so that the finger draws a small current from the contact point. The currents respectively flow out of the electrodes on the four corners of the touch screen, the currents flowing through the four electrodes are in direct proportion to the distances from the fingers to the four corners, and the controller obtains the position of a touch point through accurate calculation of the proportion of the four currents. The capacitive touch screen is divided into a surface capacitive touch screen based on a surface capacitive touch technology (SCT for short) and a projected capacitive touch screen based on a projected capacitive touch technology (PCT for short). Because the projected capacitive touch screen has more superior performance and longer service life than the surface capacitive touch screen, the projected capacitive touch screen is widely applied to life, wherein the working principle of the projected capacitive touch screen is specifically as follows: first, the capacitive touch screen is divided into a plurality of sensing units of a pixel size by effective electronic control, then, an array is performed by using extremely fine single-rail wires, and finally, the single-rail wires are connected to a control board. Because each metal wire has the fixed electromagnetic oscillation frequency, the change of the metal wire oscillation frequency can be caused by touching the glass surface of the capacitive touch screen, meanwhile, the change condition of the metal wire oscillation frequency is detected by the control panel, and finally, the touch point is determined by the control panel and the core program. Compared with a surface capacitance touch screen, the sensing unit of the projection type capacitance touch screen based on the PCT technology is embedded, so that the projection type capacitance touch screen has the advantages of good stability, difficulty in interference, difficulty in damage and the like.

The utility model provides a high accuracy pressure tactile sensor, comprises elastic conductor and resistance screen structure and/or electric capacity screen structure, characterized by: the elastic conductor is positioned in the interlayer of the resistance screen structure; the elastic conductor is located on the touch side of the capacitive screen structure body.

The combination of the elastic conductor and the resistance screen structure, wherein the elastic conductor is positioned on the interlayer in the resistance screen structure. The elastic conductor is used to replace the existing insulating transparent adhesive dots in the interlayer. The insulating transparent adhesive dots are used for separating the two conducting layers to keep insulation, and when external pressure is applied, the two conducting layers are conducted at the pressed position. The elastic conductor has the functions of normal insulation and conduction after being pressed, and is very suitable for replacing transparent adhesive dots. The resistance screen is simpler to manufacture, because transparency is not required, the difficulty of the process and materials is lower, and the application of force measurement is wider.

The combination of the elastic conductor and the resistance screen structure refers to the granted Chinese invention patent (patent number: CN201210505083.0) with the name of: a push type capacitive screen. The invention discloses a pressing type capacitive screen which is used for pressure touch sensing of an insulator and comprises a capacitive screen body, wherein the front surface and the back surface of the capacitive screen body respectively correspond to a touch side and a non-touch side of the capacitive screen body; a flexible ITO conductive film is arranged on the touch side of the capacitive screen body, flexible supports are uniformly distributed between the flexible ITO conductive film and the capacitive screen body, and an ITO conductive layer is arranged on the non-touch side; an electrode is led out of the flexible ITO conductive film and is connected with the anode of a power supply; and an electrode is led out of the ITO conductive layer and is connected with the negative electrode of the power supply. The pressing type capacitive screen is provided with the flexible ITO conductive film, the ITO conductive layer and the flexible support on the capacitive screen body in a matching manner, and can be used for detecting the touch of insulators such as plastics. The method is characterized in that: the front side and the back side of the capacitive screen body are respectively corresponding to a touch side and a non-touch side of the capacitive screen body; a flexible ITO conductive film is arranged on the touch side of the capacitive screen body, flexible supports are uniformly distributed between the flexible ITO conductive film and the capacitive screen body, and an ITO conductive layer is arranged on the non-touch side; an electrode is led out of the flexible ITO conductive film and is connected with the anode of a power supply; and an electrode is led out of the ITO conductive layer and is connected with the negative electrode of the power supply.

The invention has the detection principle of pressure sensation similar to that of a resistance screen. The flexible support is equivalent to an insulating transparent adhesive point of the resistance screen, the two conducting layers are propped open, and the conduction is detected after the flexible support is compressed by force. The invention replaces the flexible support with the elastic conductor, just like replacing the insulating transparent adhesive dots of the resistance screen interlayer, and can achieve the same effect. The present invention may be carried out in other features of the invention.

The flexible support can be described as replacing the elastic conductor. The utility model provides a high accuracy sensor comprises elastic conductor and resistance screen structure and/or electric capacity screen structure, characterized by: the front surface and the back surface of the capacitive screen structure body are respectively corresponding to a touch side and a non-touch side of the capacitive screen structure body; a flexible ITO conductive film is arranged on the touch side of the capacitive screen structure body, elastic conductors are uniformly distributed between the flexible ITO conductive film and the capacitive screen structure body, and an ITO conductive layer is arranged on the non-touch side; an electrode is led out of the flexible ITO conductive film and is connected with the anode of a power supply; and an electrode is led out of the ITO conductive layer and is connected with the negative electrode of the power supply.

According to the scheme of the invention, the ITO conductive film can be replaced by a material with the same electrical property or better electrical property, such as a metal film or a metal sheet, according to the design scheme of the ITO conductive film of the push type capacitive screen, so that the touch sensitivity is increased, and more choices can be made naturally without considering the light transmittance, including performance advantages and cost performance advantages. The protective layer can be added on the outer layer of the material with equal or better electrical property, such as a metal film or a metal sheet, which is equivalent to the effect of increasing the physical strength of the ITO conductive film.

The scheme of the invention can also add a packaging protective layer on the outer side of the ITO conductive film and/or the metal film or the metal sheet, and is characterized in that: and packaging the flexible ITO conductive film, the elastic conductor and the capacitive screen structure together. The ITO conductive film package can be packaged by using a resistor screen packaging method. The influence of the external temperature and humidity on the precision and the working state of the capacitive screen can be reduced, and the sensor is more stable.

The invention can also avoid the conductor structure (namely the flexible ITO conductive film and the connected power supply of the pressing type capacitive screen), namely a passive scheme. The utility model provides a high accuracy sensor comprises elastic conductor and resistance screen structure and/or electric capacity screen structure, characterized by: and fitting the elastic conductor on the touch side of the capacitive screen structure. It can also be expressed as a characteristic: and an elastic conductor is arranged on the touch side of the capacitive screen structure body. Or stated, it is characterized by: and an elastic conductor is arranged on the touch side of the capacitive screen structure. The elastic conductor can be conductive rubber, so that the pressure touch of a conductive object can be directly detected, the elastic conductor is also suitable for checking the touch of a human body, and the touch is still effective. If a layer of conductor is laid on the capacitive screen, the capacitive screen can still be operated by finger touch, and the conductive rubber sheet has conductivity after being pressed, but is limited to the pressed part. The improved structure of the invention has simpler structure and wider application range.

The invention can also change the patent scheme of a pressing type capacitive screen, and the high-precision sensor consists of an elastic conductor and a resistance screen structure and/or a capacitive screen structure and is characterized in that: an electrode is led out from the flexible ITO conductive film to be grounded. The touch control principle of the capacitive screen is also met, the human body conductivity can be used, the grounding conductivity can be used naturally, the structure is simplified, and the application range is wider. The complete expression is as follows: the utility model provides a high accuracy sensor comprises elastic conductor and resistance screen structure and/or electric capacity screen structure, characterized by: the front surface and the back surface of the capacitive screen structure body are respectively corresponding to a touch side and a non-touch side of the capacitive screen structure body; a flexible ITO conductive film is arranged on the touch side of the capacitive screen structure body, elastic conductors are uniformly distributed between the flexible ITO conductive film and the capacitive screen structure body, and an ITO conductive layer is arranged on the non-touch side; and an electrode is led out of the flexible ITO conductive film to be connected with the ground.

The invention can also change the patent scheme as follows: the utility model provides a high accuracy sensor comprises elastic conductor and resistance screen structure and/or electric capacity screen structure, characterized by: the front surface and the back surface of the capacitive screen structure body are respectively corresponding to a touch side and a non-touch side of the capacitive screen structure body; a flexible ITO conductive film is arranged on the touch side of the capacitive screen structure body, elastic conductors are uniformly distributed between the flexible ITO conductive film and the capacitive screen structure body, and an ITO conductive layer is arranged on the non-touch side; an electrode is led out of the flexible ITO conductive film and is connected with a negative electrode of a power supply; and an electrode is led out from the ITO conductive layer and is connected with the anode of the power supply.

The capacitive screen structure comprises the existing surface capacitive touch screen and projection capacitive screen (including self-capacitance screen and mutual capacitance screen), and also comprises schemes or products with the same principle and/or the same structure.

The resistance screen structure comprises four lines, five lines, seven lines or eight lines, and also comprises schemes or products with the same principle and/or the same structure.

The sensor of the invention is characterized in that: the elastic conductor is in a sheet shape with the area larger than 1 square millimeter or 4 square millimeters, or 25 square millimeters or 81 square millimeters.

The elastic conductor area requirement is the characteristic of the surface force and pressure measuring touch sensor, and the small area is meaningless. Less than 1 square millimeter, which is not better than the point force measurement, and loses the significance of progress. Under 4 square millimeters, the force is similar to a point measurement force, and the idea of a single-point array is returned. The practical value is only obtained when the square millimeter is 25 square millimeters, and the application value is only obtained when the square millimeter is more than 100 square millimeters.

The thickness of the conductive rubber depends on the magnitude of the force and the properties of the conductive rubber.

The sensor of the invention is characterized in that: the sheet elastic conductor can be conductive rubber, can be a plane with uniform thickness, and can also have different thicknesses. The method can be used for detecting plane touch with a specific shape and has the effect of electronic skin.

The sensor of the invention is characterized in that: the resistance screen structure and/or the capacitance screen structure can be a curved surface, a column shape or an irregular body. Therefore, the application range of the planar sensor can be enlarged, and the three-dimensional sensing degree can be increased. It is also simple to use the resistive and capacitive screens as curved surfaces only.

The conductive rubber of the present invention can also be expressed as a pressure-sensitive conductive rubber. The pressure-sensitive conductive rubber is a sensitive material with resistance strain effect, and is also called pressure-sensitive conductive rubber and piezoelectric rubber. When external force does not act, the resistance value of the pressure-sensitive conductive rubber is higher or insulated; the resistance value is obviously reduced after the pressure is applied, and the conductive property is displayed. The pressure-sensitive conductive rubber can be made from ethylene propylene rubber, nitrile rubber, chloroprene rubber, silicon rubber and the like, and is prepared by mixing and vulcanizing conductive particles. The conductive particles may be carbon black, metal particles, graphite, fibrous conductive filler, or the like. The pressure-sensitive conductive rubber has the characteristics of high sensitivity, integration and intellectualization, flexibility, high elasticity, medium corrosion resistance, relatively simple processing process, large area production and the like. Therefore, the strain-resistance sensitive material is another large category and has an irreplaceable importance. Pressure sensitive conductive rubber is one of the suitable sensitive materials for making a tactile sensor. The pressure-sensitive conductive rubber can be used for manufacturing various pressure-sensitive sensors for touch sense and artificial hand of various robots, various force-sensitive sensors, various contact touch surface switch elements, switch panels of high-density word processors, symbol image reading devices of computers, and filters.

The pressure-sensitive conductive rubber is a mature market product, and is manufactured by Japan and Taiwan in China

The preparation method disclosed by the pressure-sensitive conductive rubber is also researched by a flexible multidimensional array touch sensor based on pressure-sensitive conductive rubber in 'university of Hefei industry' academic thesis (doctor) 20081231 Huangying. The new process of preparing the pressure sensitive conductive rubber directly formed by liquid curing, which is economically feasible, makes it possible to prepare flexible touch sensor arrays in any shape. The scientific basis for determining the optimal adding proportion of the carbon black conductive filler is obtained. The experimental result shows that the nano material obviously improves various characteristics of the pressure-sensitive conductive rubber. Granted Chinese national invention patent (patent No. CN200710054951.7) university of south Henan university; a pressure-sensitive conductive rubber and a preparation method thereof. Granted patent (patent number: CN201210011604.7) fertilizer industry university; anisotropic conductive rubber and preparation method thereof

The sensor of the invention is characterized in that: the elastic conductor is anisotropic rubber. The anisotropic conductive rubber is a conductive rubber composed of an insulating elastomer and conductive particles. Conductive particles in the rubber are arranged along the z axis by improving the production process to form conductive tunnels, after external pressure is applied, xy plane direction insulation and z vertical direction conduction are realized, and each conductive tunnel can be used as an independent probe to be contacted with a tested object, so that the high-density reliability test can be realized. Anisotropic rubber can increase the positional accuracy of the sensor of the present invention. The anisotropic pressure-sensitive conductive rubber on the market is mainly manufactured by japan corporation. The research and preparation (author: lie) of the anisotropic pressure-sensitive conductive rubber of the 10 th phase in 2019 of the journal of chemical engineering and equipment have been introduced for the preparation. An authorized Chinese national invention patent (patent number: CN201010112057.2) relates to an anisotropic pressure-sensitive conductive rubber material and a preparation method thereof.

The sensor of the invention adopts an AD converter and/or a component with high sampling frequency, and is characterized in that: the sampling frequency of the AD converter and/or the component of the resistance screen and/or the capacitor is larger than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz, 100kHz and 1 MHz. The displacement detection of the moving object by the high sampling frequency can achieve higher precision. Major manufacturers of high-speed AD include AD, Maxim, and TI (i.e., BB).

The sensor of the invention is characterized in that: is arranged on the ground part of the insole and/or the mid-sole and/or the outer sole of the shoe.

The method is applied to foot force measurement, is applied to a gait analysis subject, measures the motion characteristics of the foot and calculates the motion characteristics of the gravity center of a human body. The sensor is fixed or compounded on the shoe pad, and buffer protective layers (such as sponge and cotton layers) are added up and down to avoid crushing during treading. The impact strength of the sensor itself can be increased, the material hardness of the resistive screen structure and/or the capacitive flat structure can be increased, or the thickness can be increased at the same time.

The lead led out from the resistance screen structure and/or the capacitance screen structure is extended, connected with the A/D module or the component, connected with a computer and/or a mobile phone through a USB interface, and used for reading data, and also used for storing, analyzing and sending data. The method can be changed slightly according to the existing handwriting board product scheme, and can be directly customized by the technical personnel in the field. The pressure-sensitive handwriting board of the resistance screen structure technology represents that the product has a seventh generation and eighth generation handwriting board of Hanxiang Dageneral, and can be realized by replacing insulating glue points of an interlayer with a conductive rubber layer in the interlayer, and the handwriting board is made of organic glass and can bear the gravity and slight movement of a human body. An inductance handwriting board of a capacitive screen structure is provided with a UGEE friend S-300 inductance product series, can be written by finger bells, is proved to be the capacitive screen structure, reduces the plane size, is additionally provided with a layer of conductive rubber on a handwriting layer, is in an insulating state when no pressure exists, is conductive after being pressed, can acquire data, and can capture the pressure characteristics of feet. Under the barefoot state, can directly use, because the human body can electrically conduct, with the finger touch control principle the same. Can also wet the skin on the sole of the foot to increase the conductivity. A layer of conductive metal sheet such as tinfoil aluminum foil and the like can be laid on the conductive rubber layer, an electrode or a lead is arranged on the conductive rubber layer, the lead is led out, and the conductive metal sheet is attached to the shank and fixed by an adhesive tape, so that the point sensing is better. Certainly, the structure of the pressing type capacitive screen can be used, so that the pressure sense can be captured more accurately. To prevent breakage, the capacitive screen material can be replaced by a slightly larger material, or by a thickness increase, or by a thickness doubling, with a protective layer.

Install at insole and/or insole and, with installing at the shoe-pad effect the same, protection sensor that can be better, the position is more fixed, and data is more accurate.

The sensor is arranged at the position where the outer sole is attached to the ground, so that the influence of the shoe on the foot and the human body movement can be evaluated by comparing the data in the shoe, and the shoe is taken as an evaluation object. The influence of the ground on the sport can also be evaluated, and the ground can be used as an evaluation object.

The sensor of the invention is characterized in that: the resistance screen structure sensor and the capacitance screen structure sensor are used in a superposition mode, and the resistance screen structure is arranged above.

The principle and the precision of the resistance screen are different, mutual verification and data proofreading are realized, the data is more reliable, and the resistance screen on the upper layer is preferably softer, so that the influence on the lower-layer force measurement is smaller. The device is particularly suitable for being arranged on the insole and/or the midsole to measure the mechanical state of the sole in the shoe.

The sensor of the invention is characterized in that: the thickness of the conductive rubber is less than 5 mm, 3 mm and 1.5 mm or 0.5 mm.

The thickness of the conductive rubber is related to the reaction speed of the electric signal, and the thinner the conductive rubber is, the more favorable the acquisition of high-frequency data is. Is particularly suitable for products which are arranged on the ground part of the insole and/or the middle sole and/or the outer sole of the shoe.

The invention is a combined invention, and the disclosure is not sufficient. The conductive rubber can be purchased in the open, and can be manufactured by self-making and entrusting according to the existing documents, the capacitive screen structure of the resistive screen structure is wider, and the computer handwriting pad of the capacitive screen structure of the resistive screen structure is also one of the applications as a sensor. Such as Hanxiang Dajun handwriting pad series and Youkou handwriting pad series. It is sufficient to support the realization of the present combined functions, so that the solution of the invention does not present disclosure inadequately.

The invention is based on the existing resistance screen structure and/or capacitance screen structure and technology, the existing products and schemes and software support are all suitable for the invention, and the data acquisition circuit and software can select the existing products and the disclosed technical scheme. The invention only makes structural improvement on the screen body part to be suitable for the application of the sensor and increase the pressure sensing range.

The resistance screen structure is based on the resistance screen, and includes but is not limited to the existing capacitive screen products and schemes, and all the resistance screen structures belong to the resistance screen structure of the scheme as long as the structures are the same, similar or similar and can achieve the resistance screen function. In the existing resistance screen product and scheme, the components of the resistance screen product can be replaced by the existing materials with the same performance (such as electrical performance and electrical conductivity) or parameters (such as material thickness and physical strength) are changed, and the resistance screen product and the existing resistance screen scheme are all regarded as the resistance screen structure provided by the invention as long as the resistance screen product and the resistance screen structure have the same structure. The conductive film can be replaced by a metal conductive film, a metal plate or a composite material with the same conductive performance.

The prior resistance screen multi-display screen needs light transmission performance in front and does not need to be used as a sensor, and more materials can be selected, so that the application range of the resistance screen structure as the sensor is greatly expanded. The current handwriting board of Hanxiang Dajun is exemplified as an independent computer handwriting input device. Other components of the sensor can adopt the existing products and technical schemes, are various, are sufficiently and fully disclosed, and can move the existing resistance screen. The same is true for capacitive screen structures, and capacitive handwriting pads are also one of the applications, such as UGEE friendly s-300.

The elastic conductor of the present invention can also be expressed as an elastic conductive body, i.e., a high resistance or insulation in a normal state, and a low resistance or conduction after being pressed. The conductive rubber of the present invention can also be expressed as a conductive rubber, that is, a rubber having a high resistance or insulation in a normal state and having a low resistance or conductivity after being pressed.

As a sensor application, in a resistance screen structure and a capacitance screen structure, ITO can be replaced by nano silver wires and metal grids, and the conductivity is better.

The force measuring insole is characterized in that: the sensor is provided with a high-precision sensor, the sensor consists of an elastic conductor and a resistance screen structure and/or a capacitance screen structure, and the elastic conductor is positioned in an interlayer in the resistance screen structure; the elastic conductor is positioned on the touch side of the capacitive screen structure body; the density of force measuring points of at least one part in the insole is more than 120, 150, 400, 1000, 5000 and 10000 per square centimeter; and the data acquisition frequency is more than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz and 100 kHz.

And the minimum identification unit of the resistance screen and/or the capacitance screen is regarded as a force measuring point. For example, the resolution of the resistive screen can be accurate to the pixel level, and each pixel is considered as a force point. The sensor area of a single insole is larger than 4 square centimeters.

The invention relates to a sensor, in particular to an insole provided with the sensor, which is characterized in that: the front end and/or the rear end of the insole are provided with hard frames.

The shoe frame is kept to be stretched and positioned stably, the influence on the precision caused by position change is avoided, and the shoe frame is used for being fixed in a shoe or movably installed, holes are formed in the frame, the frame is fixed on the shoe body where the frame is located through needles and threads, and the frame is sewn at the position of an upper nearby. The left side and the right side can also be provided with hard frames, so that the flatness and the test precision are improved.

The existing force-measuring insole is provided with a plurality of sensors which are uniformly distributed, about four sensors per square centimeter, aiming at measuring the stress distribution of the sole, has insufficient precision response to the dynamic mechanical characteristics of the sole, is not suitable for reflecting gait characteristics, and has very high cost and poor practicability. The force distribution of the sole depends on the mechanical structure of the foot, and the scientific value is low except for the flat foot.

The resistance screen structure is a pressure-sensitive structure, can be directly used as a force-measuring insole sensor, is fixed or compounded with an insole, can be directly used in shoes, and can directly collect plantar pressure data in a seventh generation compared with a handwriting board of a resistance screen structure, such as a Hanxiang Dajun handwriting board.

Aiming at the resistance screen structure, the invention can also add a convex structure towards the spacing layer on the bottom layer and/or the surface layer, and the convex structure and the elastic isolation points of the resistance screen are distributed in a staggered way. In short, the third layer and/or the first layer adds a raised structure to the second layer. The design of the protruding structure is favorable for triggering, particularly the resistance screen with the larger height of the interlayer is equivalent to transfer the function of the handwriting pen of the resistance screen to the inside, and the protruding structure is equivalent to increase a special contact inside, so that the handwriting pen becomes more sensitive and is more suitable for responding and detecting pressure. Each raised structure is a highly sensitive contact (detection point, force measurement point, sensing point).

For convenience of description, the insole is divided into seven parallel sections according to different bearing degrees, and the names of the sections from front to back and the proportion of the front length to the back length of the sole are as follows: front end, 12%; palm front, 12%; half sole, 16%; palm, 10%; waist stop, 25%; rear palm, 13% and rear end, 12%.

The inner side and the outer side of the half sole refer to the inner side and the outer side which are divided by taking a vertical bisector of a boundary between the half sole and the half sole as a boundary; the front and back extension lines of the perpendicular bisector are used as the inner and outer boundary lines of the front end, the palm front and the palm back.

The inner side and the outer side of the waist block refer to the inner side and the outer side which are divided by taking a vertical bisector of a boundary line between the palm and the waist block as a boundary;

the inner side and the outer side of the rear end refer to the inner side and the outer side which are divided by taking a vertical bisector of a boundary line of the rear end and the rear palm as a boundary; the front and rear extensions of the perpendicular bisector serve as the inner and outer boundary lines of the rear sole.

According to the division, the right side of the right foot is the outer side, the left side is the inner side, and the left side of the left foot is the outer side, and the right side is the inner side. That is, the side of the foot where the thumb is located is the medial side, and the side of the foot where the fifth finger is located is the lateral side.

Seven-segment division of the insole can also be carried out by the method: the connecting line of the extreme point of the frontmost end and the extreme point of the rearmost end of the insole is taken as a reference, and the connecting line is vertically divided into seven parallel sections according to the proportion. If there are no two points at the rearmost end of the frontmost end, such as one line or two points, the middle point of the line or the middle point of the line connecting the two points is used as the rearmost end endpoint of the frontmost end. The division of the inner and outer sides is as described previously.

The two descriptions of the seven paragraphs above can be used as criteria for determining infringement, and the infringement of any method is regarded as infringement of the scheme of the invention.

The term "front half of the insole" means that a vertical bisector of a line connecting the forward most end point and the rearward most end point of the insole of the shoe is a dividing line and is divided into a front part and a rear part, the part where the sole of the foot is located is the front half, and the part where the heel is located is the rear half. If there are no two points at the rearmost end of the frontmost end, such as one line or two points, the middle point of the line or the middle point of the line connecting the two points is used as the rearmost end endpoint of the frontmost end. The division of the inner and outer sides is as described previously.

The insole also has the following special regions

Zone a is a circular area centered at the rear end at inner and outer boundary 1/2, the diameter being the length of boundary 1/3.

The B area is positioned at the inner side of the half sole, a vertical bisector is made at the 1/2 point of the rear side boundary line of the B area, the B area extends forwards to intersect with the front side boundary line at a point, the 1/2 point of the two points is taken as the circle center, and the 1/3 distance between the two points is taken as the diameter of the formed circular area.

The C area is positioned at the outer side of the half sole, a perpendicular bisector is made at the 1/2 point of the rear side boundary line of the area, the C area extends forwards to intersect with the front side boundary line at one point, the 1/2 point of the two points is taken as the circle center, and the 1/3 distance between the two points is taken as the diameter of the formed circular area.

The D area is a circular area which is located in the middle of the half sole, takes the middle point of the boundary between the inner side and the outer side of the half sole as the center and takes the length of the boundary 1/3 as the diameter.

The E area is positioned on the inner side of the palm, a perpendicular bisector is made at the length 1/2 point of the boundary line of the rear side of the area, the E area extends forwards to intersect with the boundary line of the front side at one point, the connecting line 1/2 of the two points is used as the center of a circle, and the 1/3 distance between the two points is used as the diameter of the formed circular area.

Gait dynamometry insole is characterized in that: in the ABC area of the insole, at least one area of the sole sensors and/or the average density of the sensing points of the sensors is more than 128, 600, 1200, 5000 and 10000 per square centimeter.

The gait force measuring insole has the advantages that in the ABC area of the insole, the average density of the sensor points of at least one area sole sensor or/and the sensors is more than 128 per square centimeter.

The gait force measuring insole of the invention has at least one area sole sensor in the ABC area of the insole and/or the average density of the sensing points of the sensor is more than 600 per square centimeter.

The gait force measuring insole of the invention has at least one area sole sensor or/and the average density of the sensing points of the sensors in the ABC area of the insole is more than 1200 per square centimeter.

The gait force measuring insole of the invention has the advantages that in the ABC area of the insole, at least one area sole sensor and/or the average density of the sensing points of the sensors is larger than 5000 per square centimeter.

The gait force measuring insole of the invention has at least one area sole sensor and/or the average density of the sensing points of the sensor in the ABC area of the insole is more than 10000 per square centimeter. For example, current resistive screens have 15000 sensing points per square centimeter.

The gait force measuring insole is characterized in that: the ABC area of the insole has at least two areas, namely sole sensors or the average density of sensors and/or sensing points is more than 128, 600, 1200, 5000 and 10000 per square centimeter.

The gait force measuring insole is characterized in that: the average density of the ABC area of the insole, the plantar sensors and/or the sensing points of the sensors is more than 128, 600, 1200, 5000 and 10000 per square centimeter.

In the gait force measuring insole, in the ABC area of the insole, the average density of the sensor points of the sole sensors and/or the sensors is more than 128 per square centimeter.

In the gait force measuring insole, in the ABC area of the insole, the average density of the sensor points of the sole sensors and/or the sensors is more than 600 per square centimeter.

In the gait force measuring insole, in the ABC area of the insole, the average density of the sensor points of the sole sensors and/or the sensors is more than 1200 sensors per square centimeter.

In the gait force measuring insole, in the ABC area of the insole, the average density of the sensor points of the sole sensors and/or the sensors is more than 5000 per square centimeter.

In the gait force measuring insole, in the ABC area of the insole, the average density of the sensors of the sole and/or the sensing points of the sensors is more than 10000 per square centimeter.

The gait force measuring insole of the invention has the advantages that the average density of the sensors on the sole and/or the sensing points of the sensors is more than 600 per square centimeter in the ABCD area of the insole.

According to the gait force measuring insole, in the ABCD area of the insole, the average density of the sensors on the sole and/or the sensing points of the sensors is larger than 1200 sensors per square centimeter.

The gait force measuring insole of the invention has the advantages that in the ABCD area of the insole, the average density of the sensors on the sole and/or the sensing points of the sensors is more than 5000 sensors per square centimeter.

In the gait force measuring insole, the average density of the sensors on the sole and/or the sensing points of the sensors is more than 10000 per square centimeter in the ABCD area of the insole.

According to the gait force measuring insole, in the ABCDE area of the insole, the average density of the sensors on the sole of a foot and/or the average density of the sensing points of the sensors are more than 600 sensors per square centimeter.

According to the gait force measuring insole, in the ABCDE area of the insole, the average density of the sensors on the sole of a foot and/or the average density of the sensing points of the sensors are larger than 1200 sensors per square centimeter.

The gait force measuring insole is characterized in that in the ABCDE area of the insole, the average density of the sensors on the sole of a foot and/or the average density of the sensing points of the sensors are larger than 5000 sensors per square centimeter.

The gait force measuring insole is characterized in that in the ABCDE area of the insole, the average density of the sensors on the sole of a foot and/or the average density of the sensing points of the sensors are more than 10000 per square centimeter.

In the gait force measuring insole, in the ABCE area of the insole, the average density of the sensors on the sole and/or the sensing points of the sensors is more than 128, 600, 1200, 3000, 5000 and 10000 per square centimeter.

Different sensor densities and sensing point densities correspond to different testing precisions and are applied to different detection objects and detection items. The low density is used for rehabilitation detection, and the high density is used for athletic sports detection data acquisition.

The area has two or more layers of sensors stacked on each other. Different levels, aiming at different forces, two layers are suitable for daily rehabilitation.

The ABCDE area has at least one area with two or more layers of sensors stacked on top of each other. Different levels, aiming at different forces, two layers are suitable for daily rehabilitation.

The ABCDE area has at least one area with four or more layers of sensors stacked on top of each other. Different levels, aiming at different forces, are suitable for daily exercise in two layers.

The ABCDE area has at least one area with 6 or more than 6 layers of sensors stacked on top of each other. Different levels are suitable for competitive training aiming at different forces.

The force-measuring insole of the invention has at least one sensor in one area of the ABCDE area, and the sampling frequency is more than 250, 500Hz, 1kHz, 10kHz, 30kHz, 50kHz and 100 kHz. Is respectively used for rehabilitation exercise, daily life, body-building exercise, strengthening exercise, competitive exercise and laboratory research.

The gait force measuring insole of the invention has an ABC area which is provided with at least one sensor in one area, and the sampling frequency is more than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz and 100 kHz.

The gait force measuring insole has an ABC area which is provided with at least one sensor in two areas, and the sampling frequency is more than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz and 100 kHz.

The gait force measuring insole is characterized in that: the average density of the sensing points of the plantar sensors or the sensors in the area A is greater than that of the waist rail area.

The gait force measuring insole is characterized in that: the average density of the sensing points of the plantar sensors or the sensors in the B and/or C areas is greater than that of the waist rail area.

The gait force measuring insole is characterized in that: the average density of the sensing points of the sole sensors or the sensors in the areas A and/or B and/or C is 2 times, 10 times and 50 times greater than that of the waist rail area.

The gait force measuring insole has the advantages that the average density of the sole sensors or the sensing points of the sensors in the ABC area is twice as high as that of other areas.

The gait force measuring insole has the advantages that the average density of the sensors or the sensing points of the sensors on the sole of the ABCE area is twice as high as that of other areas.

The gait force measuring insole has the advantages that the average density of the sensors or the sensing points of the sensors on the sole in the ABCDE area is twice as high as that of the sensors in other areas.

The gait force measuring insole has the advantages that the average density of the sole sensors or the sensing points of the sensors in the ABC area is more than three times that of other areas.

The gait force measuring insole has the advantages that the average density of the sensors or the sensing points of the sensors on the sole in the ABCD area is more than three in the other areas.

The gait force measuring insole has the advantages that the average density of the sensors or the sensing points of the sensors on the sole in the ABCDE area is more than three times that of the sensors in other areas.

The gait force measuring insole has the advantages that the average density of the sole sensors or the sensing points of the sensors in the ABC area is more than ten times higher than that of other areas.

The gait force measuring insole has the advantages that the average density of the sensors or the sensing points of the sensors on the sole in the ABCD area is more than ten times that of the sensors in other areas.

The gait force measuring insole has the advantages that the average density of the sensors or the sensing points of the sensors on the sole in the ABCDE area is more than ten times higher than that of the sensors in other areas.

The gait force measuring insole has the advantages that the average density of the sensors or the sensing points of the sensors on the sole in the ABCDE area is more than 50 times higher than that of the sensors in other areas.

The gait force measuring insole has the advantages that the average density of the sensors or the sensing points of the sensors on the sole in the ABCDE area is 100 times higher than that of the sensors in other areas.

The gait force measuring insole provided by the invention is a sensor which can not work or is not in a working state, and is considered to be absent, and a sensor which does not participate in data analysis is also considered to be absent. The installation of the sensors of the insole can only generate meaningless interference by removing meaningless parts from the aspect of anatomy and data acquisition requirements.

The invention has the advantages that: the planar position of the resistance screen structure and/or the capacitive screen structure is high in identification precision, and is combined with pressure sensing, so that the position precision of the touch sensor is greatly improved compared with that of a single-point array type touch sensor. Because the theoretical resolution of the resistive and capacitive screen structures can reach the pixel level, each resolvable point is equivalent to one point of a single-point array sensor. The size and the motion characteristics of the force can be analyzed according to different selections of the thickness, the shape and the electrical conductivity of the elastic conductor, and the application prospect is larger.

Description of the drawings:

FIG. 1 is a schematic diagram of seven-segment distribution of the force-measuring insole of the present invention.

As shown in figure 1, the sole is divided into seven parallel sections from the back to the front according to the bearing, and the sections are named as a back end (1), a back palm (2), a waist block (3), a back palm (4), a front palm (5), a front palm (6) and a front end (7) in sequence.

In fig. 2, the inner side of the left forefoot is shown by (8), and the outer side is shown by (9). F denotes a front end hard frame G and a rear end hard frame

In fig. 3, the inner side of the right forefoot is shown by (8), and the outer side is shown by (9). The inner side and the outer side are analogized by the same way

The location of the ABCDE area is indicated by shading.

FIG. 4 is a schematic diagram of the operation of the resistive screen with transparent isolation points in the spacers

FIG. 5 is a diagram of the improved working principle of the resistive screen structure in which the conductive rubber layer replaces the transparent isolation point

Fig. 6 is a drawing of a push type capacitive screen application No. CN201210505083.0, illustrating the working principle. The capacitive touch screen comprises a capacitive screen body 100, wherein the front surface and the back surface of the capacitive screen body 100 are respectively corresponding to a touch side and a non-touch side of the capacitive screen body 100; a flexible ITO conductive film 200 is arranged on the touch side of the capacitive screen body 100, flexible supports 400 are uniformly distributed between the flexible ITO conductive film 200 and the capacitive screen body 100, and an ITO conductive layer 300 is arranged on the non-touch side; an electrode is led out of the flexible ITO conductive film 200 to be connected with the anode of a power supply (not shown); the ITO conductive layer 300 draws an electrode to connect to the negative electrode of the power supply. The flexible support 400 is a rubber support.

Fig. 7 is an operation principle diagram of the improved capacitive screen structure, wherein the flexible supporting rubber is replaced by the conductive rubber layer in the interlayer.

Example one

The planar density of the sensors is increased, the sensors are added as many as possible in the ABCDE area of the insole, the sensors are distributed in a planar mode, more dynamic information can be captured, and gait data which can be judged can be formed. The resistance screen structure and the capacitance screen structure are plane bodies, are most directly applied to the force measuring insole, are bonded or compounded with the existing insole products, and can be additionally provided with a protective layer on the upper layer and/or the lower layer or directly additionally provided with a layer of foam if necessary.

Example two

The sensors are longitudinally added in the ABCDE area of the insole, can be overlapped by multiple layers of sensors, can be vertically overlapped or can be overlapped in a staggered mode, and therefore the motion direction can be captured and the force can be measured.

The preferred embodiments of the present invention have been described above, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various features described in the foregoing detailed description may be combined in any suitable manner, regardless of the order of the text and paragraphs, without any conflict. The invention is not described in detail in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention can be made, and the same should be considered as what is created by the present invention, as long as the combination does not depart from the spirit of the present invention.

Claims

1. The utility model provides a high accuracy pressure tactile sensor, comprises elastic conductor and resistance screen structure and/or electric capacity screen structure, characterized by: the elastic conductor is positioned in the interlayer of the resistance screen structure; the elastic conductor is located on the touch side of the capacitive screen structure body.

2. The sensor of claim 1, wherein: the elastic conductor is in a sheet shape with the area larger than 1 square millimeter, 4 square millimeters, 25 square millimeters and 81 square millimeters.

3. A sensor according to claim 1 or 2, wherein: the sheet elastic conductor can be conductive rubber, can be a plane with uniform thickness, and can also have different thicknesses.

4. The sensor of the invention according to claim 1, 2 or 3, wherein: the elastic conductor and/or the conductive rubber are anisotropic rubber.

5. The sensor of claim 1, 2, 3 or 4, wherein: the AD converter and/or the component of the resistance screen structure and/or the capacitance structure has a sampling frequency of more than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz, 100kHz and 1 MHz.

6. The sensor of claim 1, 2, 3, 4 or 5, wherein: is arranged on the ground part of the insole and/or the mid-sole and/or the outer sole of the shoe.

7. The sensor and/or insole of claim 1, 2, 3, 4, 5 or 6, wherein: the resistance screen structure sensor and the capacitance screen structure sensor are used in a superposition mode, and the resistance screen structure is arranged above.

8. An insole according to claim 1, 2, 3, 4, 5, 6 or 7, wherein: the sensor is provided with a high-precision sensor, the sensor consists of an elastic conductor and a resistance screen structure and/or a capacitance screen structure, and the elastic conductor is positioned in an interlayer in the resistance screen structure; the elastic conductor is positioned on the touch side of the capacitive screen structure body; the density of force measuring points of at least one part in the insole is more than 120, 150, 400, 1000, 5000 and 10000 per square centimeter; and the data acquisition frequency is more than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz and 100 kHz.

9. Insole according to claim 1, 2, 3, 4, 5, 6, 7 or 8 the sensor of the invention, wherein: the thickness of the conductive rubber is less than 5 mm, 3 mm and 1.5 mm or 0.5 mm.

10. An insole according to claim 1, 2, 3, 4, 5, 6, 7, 8 or 9, wherein: the front end and/or the rear end of the insole are provided with hard frames.