CN113349762A - Integrated intelligent plantar force measuring system adaptable to different foot lengths - Google Patents
Integrated intelligent plantar force measuring system adaptable to different foot lengths Download PDFInfo
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- CN113349762A CN113349762A CN202110627137.XA CN202110627137A CN113349762A CN 113349762 A CN113349762 A CN 113349762A CN 202110627137 A CN202110627137 A CN 202110627137A CN 113349762 A CN113349762 A CN 113349762A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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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
- A61B5/1123—Discriminating type of movement, e.g. walking or running
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
Abstract
An integrated intelligent plantar force measuring system suitable for different foot lengths belongs to the technical field of humanoid robots. The invention aims to solve the problems that the existing product can not meet the measurement requirement of high maneuvering action of human body, the sensor arrangement is unreasonable, the size can not be adjusted, the flexibility is poor and the like. The invention comprises a sole force measuring unit, a foot positioning device, a front sole mounting plate and a rear sole mounting plate. The invention realizes the measurement of the foot stress condition of different foot length experimental objects during movement through the transverse expansion device and the longitudinal expansion device in the foot positioning device, and the quantity and the position of the sensors are reasonably arranged by analyzing the stress condition of a human body in the movement process and arranging the sensors in the main force bearing area of the sole, thereby ensuring the measurement precision and ensuring the weight and the cost of the force measuring device to be the lowest. And the data acquired by the sensor is sent to the upper computer through the wireless module. The effectiveness and reliability of the invention have been verified through experiments.
Description
Technical Field
The invention belongs to the technical field of humanoid robots, and particularly relates to an integrated intelligent plantar force measuring system suitable for different foot lengths.
Background
Humanoid robots have evolved into the 21 st century with a maturation of their ability to stabilize walking and jogging. The researchers turn the attention to the problem of how to realize high-speed maneuvers such as running, jumping, climbing and the like of the humanoid robot.
In order to realize the high maneuvering motion of the humanoid robot, the humanoid object, namely the high maneuvering motion of the human body, needs to be analyzed. According to the Chinese adult human body size, the adult male with 90 percentile body weight is 71kg, and the round is 70 kg. Under the condition of limit, after high jump, the feet fall to the ground, and the maximum stress of the single foot is four times of the body weight. At this time, the maximum stress of the single foot is as follows:
Ffoot＝70×4×9.8＝2744N
in this case, the joints of the human body and the humanoid robot are subjected to enormous forces and moments. At this time, the structural design and part selection of the humanoid robot can not be completed by experience and estimation any more, and the force and moment applied to the joint can be obtained as reference through accurate dynamic calculation. Therefore, the sole force measuring system is required to be capable of adapting to the human body to complete various actions and accurately acquiring the acting force of the ground on the foot in real time.
At present, the most advanced plantar force measuring technology at home and abroad adopts a special force measuring platform and a force measuring insole.
CN205671578U of the university of fertilizer industry discloses a sole pressure sensing shoe, which is provided with a flat sole supporting plate and forms a shoe cover capable of being worn; stress points are distributed in different areas of the sole supporting plate, force is loaded on the stress points, and strain detection signals are obtained by the sensitive elements. However, the sole pressure sensing shoes are fixed in size, can only be used for measuring specific experimental objects, and are not high in universality.
A foot sole force measuring system for a lower limb assistance system disclosed by CN103750848A of northern vehicle institute in China is similar to foot joints of a human body according to the degree of freedom of each joint of a physiological structure of the human body foot, and can be attached to the human body for movement; the pressure sensors are distributed according to the stress of the soles and are provided with force transmission structures; the sensor converts the pressure signal into an electric signal, transmits the electric signal to the signal processing system through a cable, obtains gait information through calculation, and sends the gait information to the outside through a bus. CN103230278A of Harbin university of engineering discloses a detect pedal device of plantar force, and each foot includes upper and lower two-layer, two piece four pedals totally in front and back, miniature pressure sensor, butterfly hinge, ream hole screw rod, footboard frame, back extension frame, front and back bandage and data acquisition module. The two inventions can adjust the size of the force measuring shoes according to different experimental objects, but the front soles and the rear soles can only rotate around a single fixed shaft relatively, so that the rule of integral bending deformation in the process of foot movement of a human body is not met, the phenomenon that the soles and the vamps of the experimental objects are separated possibly occurs in the experimental process, and certain limitation is caused to the normal movement of the feet of the experimental objects in the test.
CN110037707A of northeast university discloses a wearable foot-ground contact force measuring device and method for accurately identifying gait, the device comprises a front bearing frame, a rear bearing frame, a fixing part, a measuring circuit, a protective cover and a signal collector. However, in order to protect the sensor, the sensor arrangement avoids the main bearing area, which affects the measurement precision and accuracy. And the rigidity of the whole structure is poor, so that the device is not suitable for measuring the foot stress of an experimental object under high maneuvering action.
Meanwhile, the invention patents are all oriented to the fields of bioengineering and rehabilitation medical treatment, do not relate to the situation that an experimental subject implements high maneuvering action, and do not provide the measuring range and the measuring precision of the invention patents.
To sum up, the problems and deficiencies of the existing patents and products can be summarized as follows: the existing patent is not enough to meet the measurement requirements of high-speed running, jumping, climbing and other maneuvers of the human body; the sizes of most products and patent inventions can not be adjusted at will, thus influencing the universality of the force sole force measuring device; the flexibility of the plantar force measuring device is insufficient, so that the normal action of an experimental subject in the test process is influenced; the arrangement of the sensors is unscientific, and the measurement precision and accuracy are influenced; meanwhile, the price of the existing commercialized plantar force measuring product is too high, and the experiment cost is increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows:
the invention provides an integrated intelligent plantar force measuring system which can adapt to different foot lengths and aims to solve the problems that the existing force measuring platform cannot meet the requirements of high mobility measurement, is high in manufacturing cost, poor in universality, small in flexibility and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: the rights correspond to the content.
An integrated intelligent plantar force measuring system suitable for different foot lengths comprises a plantar force measuring device;
the sole force measuring device comprises a sole mounting plate consisting of a front sole mounting plate and a rear sole mounting plate, a foot positioning device and a plurality of sole force measuring units; the sole force measuring unit and the foot positioning device are both arranged on the sole mounting plate; at least one sole force measuring unit is arranged below the front sole mounting plate, and at least one sole force measuring unit is arranged below the rear sole mounting plate;
each foot sole force measuring unit comprises a rubber special-shaped piece, a middle bearing piece, a sensor upper cover plate, a sensor mounting base plate and a film pressure sensor, wherein the upper part of the rubber special-shaped piece is fixedly arranged on a front sole mounting plate or a rear sole mounting plate which is positioned above the rubber special-shaped piece; the film pressure sensor is arranged between the lower end face of the middle bearing part and the boss on the upper end face of the sensor mounting substrate;
the foot positioning device comprises a longitudinal telescopic device and a transverse telescopic device, the transverse telescopic device comprises a pair of front sole transverse check blocks and a pair of rear sole transverse check blocks, and the pair of front sole transverse check blocks and the pair of rear sole transverse check blocks are fixedly arranged at the hangers of the front sole mounting plate and the rear sole mounting plate respectively after moving to proper positions; the longitudinal telescopic device comprises a guide rail, a guide rail connecting plate, a spring steel plate, a toe baffle and a heel baffle, wherein the guide rail is fixedly arranged on the lower end face of the rear sole mounting plate, a groove of the guide rail connecting plate is matched with the photoelectric guide rail, the spring steel connecting plate is fixedly arranged at the front end of the guide rail connecting plate, one end of the spring steel plate is connected onto the upper end face of the spring steel connecting plate, the other end of the spring steel plate is connected onto the lower end face of the rear portion of the front sole mounting plate, the toe baffle is fixedly connected to the front end of the front sole mounting plate, and the heel baffle is fixedly connected to the rear end of the rear sole mounting plate.
Furthermore, four sole force measuring units are arranged below the front sole mounting plate, and three sole force measuring units are arranged below the rear sole mounting plate.
Further, the rubber profile is cylindrical, a stepped hole with a large upper part and a small lower part is arranged along the axial direction of the rubber profile, and a shoulder is arranged at the upper end of the rubber profile.
Furthermore, the shoulder of the rubber profile is fixedly connected to the front sole mounting plate or the rear sole mounting plate through a plurality of connecting pieces.
Furthermore, the end face of the opening end of the upper cover plate of the sensor is connected with the corresponding position of the mounting substrate of the sensor.
Furthermore, the upper cover plate of the sensor and the middle bearing part are limited through a check ring.
Furthermore, the matching position of the front sole transverse stop block and the front sole mounting plate, the matching position of the rear sole transverse stop block and the rear sole mounting plate, and the matching position of the photoelectric guide rail and the guide rail connecting plate are both provided with a limiting mechanism.
Furthermore, the upper end surfaces of the front sole mounting plate and the rear sole mounting plate are fixedly connected with the feet of the experimental object through flexible links.
Furthermore, gyroscopes are respectively installed at the front end of the tiptoe baffle and the rear end of the heel baffle.
Furthermore, the plantar force measuring system also comprises a control system consisting of an upper computer and a circuit board; fourteen film pressure sensors of the left and right feet are connected to the circuit board through cables, and fourteen voltage signals are transmitted to the single chip microcomputer through the voltage amplifying circuit; the single chip microcomputer packages the data after AD conversion and sends the data to the upper computer through the wireless module sending end, and the upper computer receives and processes the data through the wireless module receiving end.
Compared with the prior art, the invention has the following beneficial effects:
the arrangement of the sensors of the plantar force measuring system of the invention is known according to the analysis result of the distribution area of the pressure applied to the foot during the movement of the human body by anatomy: in the process of movement, the main force bearing areas are mainly concentrated on the 1 st phalange area, the 2 nd to 5 th phalange areas, the 1 st metatarsal area, the 5 th metatarsal area, the outer side of the heel and the inner side of the heel, and the force borne by the arch only accounts for 1% -6% of the whole force, as shown in fig. 11. Therefore, the sole force measuring unit is arranged at the main force bearing area of the foot, so that the sensor is prevented from being placed in an area with small ground reaction force, the overall balance of the sole force measuring system and the motion stability of an experimental object in the measuring process are comprehensively considered on the basis, and the arrangement of the sensor is optimized; meanwhile, the number of the sensors is reduced, the cost is saved on the premise of ensuring the measurement precision, and the wearing portability of the invention is ensured in the using process. The specific sensor placement position is shown in fig. 4.
The sole force measuring system improves the flexibility of the sole force measuring device by replacing the shoe body at the arch part with the spring steel plate, so that the integral deformation of the sole force measuring system is adaptive to the deformation of the sole of an experimental object, the phenomenon that the sole of a human body is separated from a vamp caused by the rotation of a fixed shaft is avoided, the maximum angle between the front sole mounting plate and the rear sole mounting plate is measured to be +/-60 degrees through experiments, and the free movement of the experimental object in the measuring process is ensured to be not limited.
The plantar force measuring system can be suitable for experimental objects with different foot lengths through the transverse and longitudinal extension and contraction of the foot positioning device, can adapt to the experimental objects with the foot length direction size of 255-280 mm according to the implementation of the first specific embodiment, corresponds to the size of a man shoe of 41-45, can adapt to the experimental objects with a larger range through replacing the spring steel plate, and has universality.
The plantar force measuring system can accurately measure the reaction force of the human body from the ground in the process of carrying out high maneuvering actions such as running and jumping, and the error measured by experiments is within 5%.
The invention realizes the measurement of the stress condition of the foot when the experimental objects with different foot lengths move through the transverse expansion device and the longitudinal expansion device in the foot positioning device, analyzes the stress condition of the human body in the moving process, arranges the sensors in the main force bearing area of the sole, reasonably arranges the number and the positions of the sensors, ensures the measurement precision and simultaneously ensures the weight and the cost of the force measuring device to be the lowest. And the data acquired by the sensor is sent to the upper computer through the wireless module. Experiments verify the effectiveness and reliability of the invention, and the problems that the existing product can not meet the measurement requirement of high maneuvering action of human body, the sensor is unreasonable in arrangement, the size can not be adjusted, the flexibility is poor and the like are solved.
Drawings
Fig. 1 is an experimental schematic diagram of a plantar force measuring system provided by the invention.
Fig. 2 is an isometric view of a model of the plantar force measuring device provided by the present invention.
Fig. 3 is a front view of the plantar force measuring device provided by the present invention.
Fig. 4 is a schematic bottom view of the sole force measuring device and the sensor wiring (I to VII in the drawings represent the corresponding positions of seven sole force measuring units) according to the present invention.
FIG. 5 is a schematic diagram of a limiting structure of a longitudinal expansion device of the plantar force measuring device provided by the present invention;
in the drawings, a represents a longitudinal sectional view of the longitudinal expansion device, and b represents a transverse sectional view of the longitudinal expansion device.
Fig. 6 is a schematic diagram of a limiting structure of a transverse expansion device of the plantar force measuring device provided by the invention.
Fig. 7 is a schematic view (a half sectional view) of a sole force measuring unit of the sole force measuring device provided by the present invention.
Fig. 8 is a schematic view of the bush 16 and the bush 17 of the plantar force measuring device provided by the present invention, in which: the upper right drawing is a front sectional view of the bush 17, and the lower right drawing is a plan view of the bush 17; the upper right view is a front sectional view of the bush 16, and the lower right view is a plan view of the bush 16.
Fig. 9 is a signal flow diagram of the plantar force measuring device provided by the invention.
Fig. 10 is a bottom perspective view of the plantar force measuring system of the present invention (with the toe guard, heel guard and gyroscope removed).
FIG. 11 is a plantar pressure distribution map;
FIG. 12 is a pictorial view of a plantar force measuring system of the present invention;
FIG. 13 is a screenshot of an experimental record and plantar force data analysis for a walking experiment using the present invention, wherein a represents a set of screenshots during the walking experiment, and b represents a graph of the change in plantar force with time during the walking experiment;
FIG. 14 is a screenshot of an experimental record and plantar force data analysis for a running test using the present invention, wherein a represents a set of screenshots during the running test, and b represents a plot of plantar force magnitude versus time during the running test;
FIG. 15 is a screenshot of an experiment record and plantar force data analysis for an upward jump experiment using the present invention, wherein a represents a set of screenshots during the upward jump experiment, and b represents a graph of changes in plantar force with time during the upward jump experiment (when jumping upward, the stress on the left and right feet are the same, and the resultant force of the left and right feet is shown);
FIG. 16 is a screenshot of an experimental record and plantar force data analysis for a jump down experiment using the present invention; wherein, a represents a group of screenshots in the downward jumping experiment, b represents a curve chart of the change of the sole force along with the time in the downward jumping experiment (when jumping downwards, the stress conditions of the left foot and the right foot are the same, and the resultant force of the left foot and the right foot is shown);
FIG. 17 is a screenshot of an experimental record and plantar force data analysis for an in situ jump experiment using the present invention; wherein, a represents a group of screenshots in the in-place jump experiment, and b represents a curve chart of the change of the plantar force along with time in the in-place jump experiment (in-place jump, the stress conditions of the left foot and the right foot are the same, and the resultant force of the left foot and the right foot is shown).
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings and examples.
The first embodiment is as follows: the invention provides an integrated intelligent plantar force measuring system suitable for different foot lengths, which comprises a plantar force measuring device, a plantar force measuring device and a force measuring device, wherein the plantar force measuring device is connected with the plantar force measuring device through a connecting rod; the sole force measuring device comprises a sole mounting plate consisting of a front sole mounting plate 7 and a rear sole mounting plate 14, a foot positioning device and a plurality of sole force measuring units; the sole force measuring unit and the foot positioning device are both arranged on the sole mounting plate; four sole force measuring units are arranged below the front sole mounting plate 7, three sole force measuring units are arranged below the rear sole mounting plate 14, and seven sole force measuring units are respectively and correspondingly arranged in main force bearing areas of soles; each sole force measuring unit comprises a rubber special-shaped part 4, a middle bearing part 3, a sensor upper cover plate 2, a sensor mounting base plate 1 and a film pressure sensor 18, wherein the upper part of the rubber special-shaped part 4 is fixedly arranged on a front sole mounting plate 7 or a rear sole mounting plate 14 which is positioned above the rubber special-shaped part 4, the lower part of the rubber special-shaped part 4 is arranged at the upper end of the middle bearing part 3, the lower end surface of the rubber special-shaped part 4 is contacted with a shoulder of the middle bearing part 3, the sensor upper cover plate 2 is sleeved on the lower end of the middle bearing part 3, and the sensor mounting base plate 1 is positioned below the sensor upper cover plate 2 and is connected with the sensor upper; the film pressure sensor 18 is arranged between the lower end face of the middle bearing part 3 and the boss on the upper end face of the sensor mounting substrate 1; the foot positioning device comprises a longitudinal telescopic device and a transverse telescopic device, the transverse telescopic device comprises a pair of front sole transverse check blocks 8 and a pair of rear sole transverse check blocks 13, and the pair of front sole transverse check blocks 8 and the pair of rear sole transverse check blocks 13 are fixedly arranged at hangers of the front sole mounting plate 7 and the rear sole mounting plate 14 respectively after moving to proper positions; the longitudinal telescopic device comprises a guide rail 12 (photoelectric guide rail), a guide rail connecting plate 11, a spring steel connecting plate 10, a spring steel plate 9, a toe baffle 6 and a heel baffle 15, wherein the photoelectric guide rail 12 is fixedly arranged on the lower end face of a rear sole mounting plate 14, the groove of the guide rail connecting plate 11 is matched with the photoelectric guide rail 12, the spring steel connecting plate 10 is fixedly arranged at the front end of the guide rail connecting plate 11, one end of the spring steel plate 9 is connected onto the upper end face of the spring steel connecting plate 10, the other end of the spring steel plate 9 is connected onto the lower end face of the rear portion of a front sole mounting plate 7, the toe baffle 6 is fixedly connected onto the front end of the front sole mounting plate 7, and the heel. The plantar force measuring system also comprises a control system consisting of an upper computer and a circuit board; fourteen film pressure sensors 18 on the left and right are connected to the circuit board through cables, and fourteen voltage signals are transmitted to the single chip microcomputer through a voltage amplifying circuit; the single chip microcomputer packages the data after AD conversion and sends the data to the upper computer through a wireless module sending end nRF24L01+, and the upper computer receives and processes the data through a wireless module receiving end nRF24L01 +.
The rubber profile 4 is cylindrical, a stepped hole with a large upper part and a small lower part is arranged along the axial direction of the rubber profile, and a shoulder is arranged at the upper end of the rubber profile.
The shoulder of the rubber profile 4 is fixedly connected to the front sole mounting plate 7 or the rear sole mounting plate 14 through a plurality of connecting pieces. The rubber profile 4 is fixedly connected with the four bushings 16 on the front sole mounting plate 7 or the rear sole mounting plate 14 through four hexagon socket head flat round head screws M3X 8.
The end face of the opening end of the sensor upper cover plate 2 is connected with the corresponding position of the sensor mounting base plate 1. The sensor upper cover plate 2 is fixedly connected to the sensor mounting base plate 1 through four slotted cylindrical head screws M2X6 and four bushings 17.
The upper cover plate 2 of the sensor and the middle bearing part 3 are limited by a retainer ring 20. The upper cover plate 2 of the sensor and the middle bearing part 3 pass through
The shaft is limited by a retainer ring.
The matching part of the front sole transverse stop block 8 and the front sole mounting plate 7, the matching part of the rear sole transverse stop block 13 and the rear sole mounting plate 14, and the matching part of the photoelectric guide rail 12 and the guide rail connecting plate 11 are provided with limiting mechanisms.
The upper end surfaces of the front sole mounting plate 7 and the rear sole mounting plate 14 are fixedly connected with the feet of the experimental object through flexible links.
And gyroscopes 5 are respectively arranged at the front ends of the tiptoe baffles 6 and the rear ends of the heel baffles 15.
The invention adapts to the experimental objects with different foot lengths by the sliding between the guide rail connecting plate 11 and the photoelectric guide rail 12 and between the front sole transverse baffle block 8 and the front sole mounting plate 7 relative to the rear sole transverse baffle block 13 and the rear sole mounting plate 14, and can face the experimental objects in other ranges by replacing the spring steel plate 9, so that the measuring result has universality and wider application.
According to the invention, the circular boss is additionally arranged on the upper end surface of the force sensor mounting base plate 1 and forms force measurement matching with the lower end surface of the middle bearing part 3, so that the pressure from the ground, which is applied to the foot part in the measurement process, can be accurately and effectively transmitted to the film pressure sensor 18.
According to the Chinese adult human body size, the adult male with 90 percentile body weight is 71kg, and the round is 70 kg. Under the condition that the feet fall to the ground after jumping up, the maximum stress of a single foot is four times of the body weight under the assumption of the limit condition. According to the sensor arrangement of the invention, the single sole force measuring unit is stressed the most for the three sole force measuring units of the rear sole to land. In this case, the maximum force applied to a single foot is:
Ffoot＝70×4×9.8＝2744N
maximum force to which a single sole force-measuring cell is subjected:
factor of safety GsafeIs taken to be 1.2
Fmax-Fsingle×1.2≈1097.6N
Rounded to 1100N. By looking up the performance parameters of the sensor, the Flexi Force series A201 film pressure sensor of Tekcast can meet the test requirement, namely, the measuring range of the sensor is longer than the value of the sole Force when the experimental object performs high-speed running, jumping and other high-speed maneuvers.
The invention reasonably arranges the sole force measuring units by analyzing the sole pressure distribution in the exercise process of adults, the number and the positions of the sole force measuring units are shown in figure 4, and the validity of measured data is ensured by increasing the area of the sensor mounting base plate 1. The arrangement mode can obtain the stress data of the main stress bearing area of the sole, better reflects the stress condition of the sole and meets the analysis requirement.
In order to ensure the wearing comfort of the invention and enable the experimental subject to act more naturally in the experimental process, the sole force measuring unit is connected with the front sole mounting plate 7 and the rear sole mounting plate 14 through the rubber special-shaped piece 4 to play the roles of buffering and absorbing vibration. The parts of the toe baffle 6, the heel baffle 15, the front sole transverse baffle and the rear sole transverse baffle, which are contacted with the feet of the experimental object, are added with buffers such as rubber pads, sponges and the like, so that the personal safety of the experimental object is protected. The non-support area of the arch part of the human body is provided with the spring steel plate 9, so that the plantar force measuring system can be integrally bent, and the effective moving range of the foot of the experimental object is ensured.
In order to reduce the whole weight of the plantar force measuring system, the main body part of the plantar force measuring system adopts 7075 aluminum alloy, so that the total weight is reduced under the condition of ensuring the rigidity, and the portability is ensured.
In order to protect the aluminum alloy parts and increase the durability of the aluminum alloy parts, the connecting parts of the rubber special-shaped piece 4, the front sole mounting plate 7 and the rear sole mounting plate 14 are provided with the bushings 16, and the connecting parts of the force sensor upper cover plate 2 and the force sensor mounting base plate 1 are provided with the bushings 17, so that the aluminum alloy parts are prevented from being damaged by steel screws under the condition of repeated assembly, and the long-term matching precision is also ensured. Meanwhile, the bush adopts a non-circular structure as shown in fig. 7, and the screw can be completely screwed in the assembling process.
Fig. 3 is a schematic diagram of sensor routing, where cables are connected to a circuit board by being fixed together by cable management clips. The circuit board is an embedded system integrating signal processing and communication functions. The left and right sole force measuring devices transmit fourteen paths of voltage signals to the single chip microcomputer through the voltage amplifying circuit according to signals collected by the film pressure sensor 18. The single chip microcomputer packs data and sends the data to the upper computer through a wireless module sending end nRF24L01+, and the upper computer receives and processes the data through a wireless module receiving end nRF24L01 +.
In the upper computer, the upper computer firstly converts the received voltage signals into pressure values, judges whether the experimental object is in a double-leg supporting stage or a single-leg supporting or suspending state stage according to the left and right foot pressure values, and gives the position of the ZMP, the position of a single-foot resultant force action point and the magnitude of resultant force.
For the calculation of the resultant force and the position of the action point of a single foot, if the foot is used for landing the front sole (namely, no readings are shown from the sensors V to VI I), the calculation program takes the connecting central point of the sensors III and IV as the origin, takes the longitudinal direction of the foot as the Y axis, takes the direction of the front sole as the positive direction, takes the transverse direction of the foot as the X axis and takes the right as the positive direction. If the foot is the rear sole landing (i.e. no indication from sensor I to IV) or the full sole landing, the center of plantar force measuring unit VI is taken as the origin, the longitudinal direction of the foot is taken as the Y axis, the direction of the front sole is taken as the positive, the transverse direction of the foot is taken as the X axis, and the right side is taken as the positive. The position and the value of the resultant force of the single foot are obtained through calculation, and the calculation formula of the position of the resultant force action point is as follows:
wherein p isjxIs the X-direction coordinate, p, of the jth plantar force measuring unitjyIs the Y-direction coordinate, f of the jth plantar force measuring unitjzThe force applied to the jth plantar force measuring unit is N, and N is the number of sensors in a certain landing state. The equation for the two-foot ZMP position is as above.
Meanwhile, the gyroscope 5 is connected with the upper computer through the Bluetooth wireless module, and posture information of the two feet can be directly transmitted to the upper computer.
After the assembly is finished, the invention can adapt to the test object with the foot length direction size of 255-280 mm, the corresponding size of the men's shoes of 41-45 yards, the sampling frequency of 1000Hz, the maximum range of the double feet of 154000N and the maximum range of the limit action of 6600N, and can meet the measurement requirements of high maneuvering actions such as rapid running, jumping and the like.
The second embodiment is as follows: the spring with proper rigidity can be added at the opening at the rear end of the guide rail connecting plate and the hook at the lower end surface of the rear sole mounting plate to serve as a longitudinal adjusting and limiting mechanism, so that semi-automation of the longitudinal limiting mechanism is realized. Other components and connection relationships are the same as those in the first embodiment.
The third concrete implementation mode: the circuit board and the upper computer can be communicated by using a USB bus, and the power supply requirement of the single chip microcomputer is met. Other components and connection relationships are the same as those in the first or second embodiment.
As shown in fig. 12, for the actual effect (actual measurement picture) of the integrated intelligent plantar force measuring system adaptable to different foot lengths, the specific embodiment refers to the first specific embodiment and the third specific embodiment. And then, the practical effect of the invention is verified through experiments, and the experimental subject respectively carries out actions such as walking, running, jumping up, jumping down, jumping on site and the like in the experimental process. Fig. 13 to 17 are screenshots of experimental records and plantar force analysis for walking, running, jumping up (300mm), jumping down (450mm) and jumping in place for different subjects. As shown in the figure, the change situation of the sole force measured by the invention corresponds to the actual motion situation; the maximum stress borne by a single foot is about 1.3 times of the body weight when the foot walks at the average pace speed of 0.75m/s, the maximum stress borne by the single foot is about 1.6 times of the body weight when the foot runs at the average pace speed of 2m/s, the maximum resultant force borne by the foot is about twice of the body weight when the foot jumps up to 300mm, the maximum resultant force borne by the foot is about 6.5 times of the body weight when the foot jumps down to 450mm, and the maximum resultant force borne by the foot is about 5.5 times of the body weight when the foot jumps in place to 310 mm. The actual weight of the experimental subject is compared with the measured data under the static state, and the error is within 5 percent. Experiments prove that the integrated intelligent plantar force measuring system suitable for different foot lengths can meet the measurement requirements of high maneuvering exercises, the current measured value only accounts for 30% of the maximum measuring range, and the measuring range still has a large ascending space.
Claims (10)
1. The utility model provides an intelligent plantar force measurement system integrates of adaptable different foot length which characterized in that: the sole force measuring system comprises a sole force measuring device;
the sole force measuring device comprises a sole mounting plate consisting of a front sole mounting plate (7) and a rear sole mounting plate (14), a foot positioning device and a plurality of sole force measuring units; the sole force measuring unit and the foot positioning device are both arranged on the sole mounting plate; at least one sole force measuring unit is arranged below the front sole mounting plate (7), and at least one sole force measuring unit is arranged below the rear sole mounting plate (14);
each sole force measuring unit comprises a rubber special-shaped piece (4), a middle bearing piece (3), a sensor upper cover plate (2), a sensor mounting base plate (1) and a film pressure sensor (18), wherein the upper part of the rubber special-shaped piece (4) is fixedly arranged on a front sole mounting plate (7) or a rear sole mounting plate (14) which is arranged above the rubber special-shaped piece, the lower part of the rubber special-shaped piece (4) is arranged at the upper end of the middle bearing piece (3), the lower end face of the rubber special-shaped piece (4) is in contact with a shoulder of the middle bearing piece (3), the sensor upper cover plate (2) is sleeved on the lower end of the middle bearing piece (3), and the sensor mounting base plate (1) is arranged below the sensor upper cover plate (2) and is connected with the sensor mounting base plate and the middle bearing piece through a connecting piece; the film pressure sensor (18) is arranged between the lower end face of the middle bearing part (3) and the boss on the upper end face of the sensor mounting base plate (1);
the foot positioning device comprises a longitudinal telescopic device and a transverse telescopic device, the transverse telescopic device comprises a pair of front sole transverse check blocks (8) and a pair of rear sole transverse check blocks (13), and the pair of front sole transverse check blocks (8) and the pair of rear sole transverse check blocks (13) are fixedly arranged at hangers of the front sole mounting plate (7) and the rear sole mounting plate (14) respectively after moving to proper positions; the longitudinal telescopic device comprises a guide rail (12), a guide rail connecting plate (11), a spring steel connecting plate (10), a spring steel plate (9), a toe baffle (6) and a heel baffle (15), wherein the guide rail (12) is fixedly arranged on the lower end face of a rear sole mounting plate (14), the groove of the guide rail connecting plate (11) is matched with the photoelectric guide rail (12), the spring steel connecting plate (10) is fixedly arranged at the front end of the guide rail connecting plate (11), one end of the spring steel plate (9) is connected onto the upper end face of the spring steel connecting plate (10), the other end of the spring steel plate (9) is connected onto the lower end face of the rear portion of the front sole mounting plate (7), the toe baffle (6) is fixedly connected to the front end of the front sole mounting plate (7), and the heel baffle (15) is fixedly connected to the rear end of the rear sole mounting plate (14).
2. The system of claim 1, wherein the system is adapted to integrated intelligent plantar force measurements of different foot lengths, and comprises: four sole force measuring units are arranged under the front sole mounting plate (7), and three sole force measuring units are arranged under the rear sole mounting plate (14).
3. The system of claim 1, wherein the system is adapted to integrated intelligent plantar force measurements of different foot lengths, and comprises: the rubber profile (4) is cylindrical, a stepped hole with a large upper part and a small lower part is arranged along the axial direction of the rubber profile, and a shoulder is arranged at the upper end of the rubber profile.
4. The system of claim 3, wherein the system is adapted to integrated intelligent plantar force measurements of different foot lengths, and comprises: the outer side of the shoulder of the rubber special-shaped piece (4) is fixedly connected on the front sole mounting plate (7) or the rear sole mounting plate (14) through a plurality of connecting pieces.
5. The system of claim 1, wherein the system is adapted to integrated intelligent plantar force measurements of different foot lengths, and comprises: the end face of the opening end of the sensor upper cover plate (2) is connected with the corresponding position of the sensor mounting base plate (1).
6. The system of claim 5, wherein the system is adapted to the different foot lengths and comprises: the upper cover plate (2) of the sensor and the middle bearing part (3) are limited through a check ring.
7. The system of claim 1, wherein the system is adapted to integrated intelligent plantar force measurements of different foot lengths, and comprises: the photoelectric guide rail is characterized in that the matching position of the front sole transverse stop block (8) and the front sole mounting plate (7) is provided with a limiting mechanism, the matching position of the rear sole transverse stop block (13) and the rear sole mounting plate (14) is provided with a limiting mechanism, and the matching position of the photoelectric guide rail (12) and the guide rail connecting plate (11) is provided with a limiting mechanism.
8. The system of claim 1, wherein the system is adapted to integrated intelligent plantar force measurements of different foot lengths, and comprises: the upper end surface of the front sole mounting plate (7) and the upper end surface of the rear sole mounting plate (14) are fixedly connected with the feet of the experimental subject through a flexible link.
9. The system of claim 1, wherein the system is adapted to integrated intelligent plantar force measurements of different foot lengths, and comprises: and gyroscopes (5) are respectively installed at the front ends of the tiptoe baffles (6) and the rear ends of the heel baffles (15).
10. The system of claim 2, wherein the system is adapted to integrated intelligent plantar force measurements of different foot lengths, and comprises: the plantar force measuring system also comprises a control system consisting of an upper computer and a circuit board; fourteen film pressure sensors (18) of the left and right feet are connected to the circuit board through cables, and fourteen voltage signals are transmitted to the single chip microcomputer through a voltage amplifying circuit; the single chip microcomputer packages the data after AD conversion and sends the data to the upper computer through the wireless module sending end, and the upper computer receives and processes the data through the wireless module receiving end.
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