CN113940464A - Ankle protective sheath - Google Patents

Ankle protective sheath Download PDF

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Publication number
CN113940464A
CN113940464A CN202111125079.7A CN202111125079A CN113940464A CN 113940464 A CN113940464 A CN 113940464A CN 202111125079 A CN202111125079 A CN 202111125079A CN 113940464 A CN113940464 A CN 113940464A
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CN
China
Prior art keywords
ankle
cover
cover body
probe
protective cover
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111125079.7A
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Chinese (zh)
Other versions
CN113940464B (en
Inventor
王晨帆
杨佳惠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Weihai Zhonghai Intelligent Technology Co ltd
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Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority to CN202111125079.7A priority Critical patent/CN113940464B/en
Publication of CN113940464A publication Critical patent/CN113940464A/en
Application granted granted Critical
Publication of CN113940464B publication Critical patent/CN113940464B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • AHUMAN NECESSITIES
    • A41WEARING APPAREL
    • A41DOUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D13/00Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
    • A41D13/05Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches protecting only a particular body part
    • A41D13/06Knee or foot
    • AHUMAN NECESSITIES
    • A41WEARING APPAREL
    • A41DOUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D13/00Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
    • A41D13/015Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with shock-absorbing means
    • A41D13/018Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with shock-absorbing means inflatable automatically
    • AHUMAN NECESSITIES
    • A41WEARING APPAREL
    • A41DOUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D27/00Details of garments or of their making
    • AHUMAN NECESSITIES
    • A41WEARING APPAREL
    • A41DOUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D31/00Materials specially adapted for outerwear
    • A41D31/04Materials specially adapted for outerwear characterised by special function or use
    • A41D31/14Air permeable, i.e. capable of being penetrated by gases
    • AHUMAN NECESSITIES
    • A43FOOTWEAR
    • A43BCHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B23/00Uppers; Boot legs; Stiffeners; Other single parts of footwear
    • A43B23/02Uppers; Boot legs
    • A43B23/0245Uppers; Boot legs characterised by the constructive form
    • AHUMAN NECESSITIES
    • A43FOOTWEAR
    • A43BCHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B5/00Footwear for sporting purposes
    • AHUMAN NECESSITIES
    • A43FOOTWEAR
    • A43BCHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B7/00Footwear with health or hygienic arrangements
    • A43B7/14Footwear with health or hygienic arrangements with foot-supporting parts
    • A43B7/18Joint supports, e.g. instep supports
    • A43B7/20Ankle-joint supports or holders
    • AHUMAN NECESSITIES
    • A43FOOTWEAR
    • A43BCHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B7/00Footwear with health or hygienic arrangements
    • A43B7/14Footwear with health or hygienic arrangements with foot-supporting parts
    • A43B7/24Insertions or other supports preventing the foot canting to one side , preventing supination or pronation
    • AHUMAN NECESSITIES
    • A41WEARING APPAREL
    • A41DOUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D2600/00Uses of garments specially adapted for specific purposes
    • A41D2600/10Uses of garments specially adapted for specific purposes for sport activities

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Public Health (AREA)
  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
  • Professional, Industrial, Or Sporting Protective Garments (AREA)

Abstract

The invention discloses an ankle protective sleeve which comprises a soft cover body, wherein an accommodating cavity is arranged in the cover body, and the cover body comprises an ankle cover sleeved outside an ankle; the device also comprises an installation box, wherein a displacement sensor, a control circuit board, a condenser and an electric control injection mechanism are installed in the installation box; the injection mechanism injects a substance with fluidity into the containing cavity; the first probe is installed to the installation case lower extreme, first probe, condenser and injection mechanism respectively with control circuit board electric connection. The invention has a certain protection effect on the ankle, thus preventing the basketball foot pad from accidents.

Description

Ankle protective sheath
Technical Field
The invention belongs to the field of sports protection articles, and particularly relates to an ankle protective sleeve.
Background
Nowadays, basketball is taken as a very popular sport all over the world, but people often have many dangers in the process of playing the basketball, such as the people are accidentally or intentionally padded, when a player steps on shoes of other people when falling, the player can not play the basketball on the spot, then the player sprains the feet, the ankle is injured, the player can not play the basketball again on the spot, and the player can not play the basketball again for a long time even for a lifetime. No technique is currently available to prevent foot accidents.
Disclosure of Invention
In view of the above, the present invention provides an ankle protective sleeve for protecting the ankle against the shortcomings of the prior art.
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose: an ankle protective sleeve comprises a soft cover body, wherein an accommodating cavity is formed in the cover body, and the cover body comprises an ankle cover sleeved outside an ankle; the device also comprises an installation box, wherein a displacement sensor, a control circuit board, a condenser and an electric control injection mechanism are installed in the installation box; the injection mechanism injects a substance with fluidity into the containing cavity; the first probe is installed to the installation case lower extreme, first probe, condenser and injection mechanism respectively with control circuit board electric connection.
Further: the cover body also comprises a foot cover connected to the upper end of the ankle cover.
Further: the cover body also comprises a sole cover connected to the lower end of the ankle cover.
Further: the cover body is formed by winding a plurality of soft pipelines, the pipelines are woven into a net shape and communicated with each other, and cavities in the pipelines form accommodating cavities.
Further: the mounting box is also provided with two second probes and a third probe outside, and the second probes and the third probe are respectively and electrically connected with the control circuit board.
Further: the mounting box is externally provided with a first knob and a second knob, and the two knobs are electrically connected with the controller.
Further: the hanging plate is installed outside the installation box, a bonding strip is further bonded on the hanging plate installation box, and the bonding strip is located below the hanging plate.
Further: the injection mechanism is an air pump, the substance is air, and the air pump is connected with the accommodating cavity through an air pipe.
Further: the injection mechanism is a hydraulic pump, the substance is liquid, and the hydraulic pump is connected with the accommodating cavity through a hydraulic pipe.
Further: the glove also comprises a double-layer glove body, and the glove body is arranged in the glove body.
Compared with the prior art, the invention has the main beneficial effects that:
1. the ankle cover of the cover body is put on ankle, the sports shoes are worn again, when a first probe detects that someone fills up the foot in the below, the injection mechanism just injects the material into holding the intracavity, so the cover body inflation, it is in between the sports shoes to crowd at the ankle, make ankle department be pressed from both sides tightly, so the joint of ankle department is difficult for spraining each other, difficult the turning round, thereby play certain guard action to the ankle, so just play certain prevention to the basketball and fill up the foot accident.
2. The cover body still is equipped with the foot cover of being connected with ankle cover, and the foot cover overlaps in the top of ankle, the below of shank, and the cover body fills the material inflation back like this, closely links together ankle and more positions of shank, ties up the joint of ankle department, so makes the joint of ankle department more be difficult to the river bend arrive, has strengthened the protective action of the cover body to the ankle.
3. The cover body still is equipped with the sole cover, so is connected whole foot and ankle, and the cover body inflation back like this, whole shoes are firmly fixed foot and ankle together for the joint of ankle department is tied up tightly, so makes the joint of ankle department more be difficult to the mistake, has strengthened the guard action of the cover body to the ankle.
4. The cover body is made up by using several soft pipelines and making them be coiled into a net form, so that compared with full-covering it can produce a certain air-permeable action, and can reduce the quantity of material and reduce the weight of whole protective cover.
5. Two second probes set up the both sides middle part position at shoes, so can be used for detecting whether the shoes are close to the below that middle position corresponds and have the condition of filling up the foot, if with the radar, can detect even whether have the condition of filling up the foot in the certain region in the sole below, cooperate first probe like this and can judge the condition whether have the foot that fills up more accurately, can even protect the ankle, reduce injured possibility like this. The third probe is arranged and is adhered to the front end of the shoe, so that whether the foot pad is arranged below the front end of the shoe or not can be detected, the detection force is further increased, the foot pad is detected as much as possible, and the purpose of the invention can be better achieved.
6. The invention can be opened and closed by utilizing the knob, and can be opened when needed and closed when not used, and can be debugged, thereby avoiding the phenomenon that the projection cannot be normally used. The control of adopting the rotation is better than the control of adopting the pressing to make the key-press, because the collision can be taken place unavoidably in the movement, if rotate the key-press, will close the use, or play the unnecessary control, and this condition is difficult to appear in the knob.
7. Utilize the link plate can hang the install bin on shoes, utilize the bonding strip to bond install bin and shoes, make the install bin be connected with shoes better like this.
8. Utilize the air to come the expansion cover body, need not to save the box, reduce the cost like this, also alleviate the whole weight of mounting box.
9. The cover body is inflated by liquid, so that the ankle can be clamped more firmly than air, and the ankle can be sprained and injured less easily.
10. The cover body is arranged, so that the cover body can be protected, and the cover body is not easy to puncture.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the construction of the housing of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 4 is a schematic view of the mounting box of the present invention;
FIG. 5 is a schematic view of the mounting box of the present invention from another perspective;
fig. 6 is a schematic diagram of the use of the present invention.
Reference numerals: 1. a cover body; 10. an accommodating chamber; 11. an ankle cover; 12. a foot cover; 13. a sole cover; 2. a sleeve body; 21. an ankle cuff; 22. a leg cover; 23. a sole cover; 3. a control box; 31. sleeving heads; 32. a first probe; 33. a second probe; 34. a first knob; 35. a second knob; 36. hanging the plate; 37. bonding the strips; 38. a third probe; 4. a shoe; 5. and (5) a foot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 6 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in figures 1-3: this embodiment is an ankle protective sheath, including soft cover body 1, the cover body 2 and install bin. The cover body 1 is inside to be equipped with and to hold chamber 10, the cover body 1 is including the ankle cover 11 of cover outside the ankle, the cover body 1 is still including connecting the foot cover 12 in the ankle cover 11 upper end, the cover body 1 is still including connecting the sole cover 13 at the ankle cover 11 lower extreme. The cover body 1 is made of a plurality of soft pipelines which can be made of rubber. The pipelines are woven into a net shape, the pipelines are communicated, and cavities in the pipelines form accommodating cavities 10. The cover body 2 is double-layer, the cover body 1 is arranged in the cover body 2, and the cross section structure is shown in figure 3. The sleeve body 2 comprises a leg sleeve 22, an ankle sleeve 21 and a sole sleeve 23 which are sequentially connected, the leg sleeve 22 is sleeved outside the leg cover, the ankle sleeve 21 is sleeved outside the ankle cover 11, and the sole sleeve 23 is sleeved outside the sole cover 13. Thus, the cover body 1 and the cover body 2 form a shape similar to a sock, and the athlete can wear the cover body as the sock. The sleeve body 2 can be woven by silk materials, so that the sleeve body can be breathable.
As shown in fig. 4 and 5: and a displacement sensor, a control circuit board, a current condenser and an electric control injection mechanism are arranged in the mounting box. The injection mechanism injects a substance having fluidity into the accommodating chamber 10. The lower end of the installation box is provided with a first probe 32, two second probes 33 and a third probe 38 are arranged outside the installation box, and all the probes 33 can adopt infrared distance measuring probes. The displacement sensor, the condenser, the probe, the condenser and the injection mechanism are respectively electrically connected with the control circuit board. And a first knob 34 and a second knob 35 are further installed outside the installation box, and the two knobs are electrically connected with the controller. The hanging plate 36 is installed outside the installation box, the bonding strip 37 is further bonded on the installation box of the hanging plate 36, and the bonding strip 37 is located below the hanging plate 36.
The injection mechanism is an air pump, the substance is air, the air pump is connected with the accommodating cavity 10 through an air pipe, the air pipe enters the installation box through the sleeve head 31, a deflation valve can be installed on the air pipe, and the deflation valve is electrically connected with the control circuit board.
As shown in figure 6, the sleeve body and the cover body are sleeved on a foot 5, then a shoe 4 is worn, the installation box is hung on the upper of the shoe, the adhesion strip is adhered to the upper of the shoe, two second probes are adhered to the positions, close to the middle, of the two sides of the shoe by using double faced adhesive tapes, a third probe is adhered to the front end of the shoe by using the double faced adhesive tapes, and finally a corresponding knob is rotated to start the invention. One for each foot.
Further use cases are as follows: when the athlete jumps and falls, the displacement sensor can detect the displacement condition of the shoe of the athlete, so that the rising or falling speed of the shoe of the athlete can be fed back in real time, each probe can detect the distance from the probe to the ground in real time, when the change condition of the distance detected by each probe does not conform to the speed change, for example, the abnormal reduction is more than 4cm, the condition that the foot is padded below is indicated, at the moment, the air pump works to contain air in the cavity, the cover body expands inwards and outwards and is squeezed between the foot and the sports shoe, the inward expansion of the cover body enables the parts below the ankle, the sole and the shank close to the ankle to be clamped tightly, when the foot padded below is stepped on, the force of the body moving downwards can generate the force of spraining the foot, under the buffer action of the cover body, and the joint bearing of the ankle, the sole and the shank can disperse the force, so that the lining of the ankle is reduced, therefore, the joints at the ankles are not easy to sprain, not easy to dislocate and the like, so that the ankle is protected to a certain extent, and the basketball foot pad accident is prevented to a certain extent. After falling to the ground, the air pump stops working, the air release valve is opened, the air is released by the force of people stepping on the sleeve body, and the air pump can be arranged to release air. After the air is pumped out, the cover body does not clamp the ankle, the sole and part of the shank, so that the running, the take-off and the like of the athlete can not be influenced.
Example 2
The injection mechanism of the present embodiment is a hydraulic pump, the substance is liquid, and may be engine oil, and the liquid is stored in a container, and the container is disposed in the installation box. The hydraulic pump passes through hydraulic pressure union coupling with holding the chamber, and hydraulic pressure pipe passes through the pullover entering install bin. An oil pump is also needed to pump the liquid injected into the containing cavity back to the container for the next use. The substance is liquid, so that the shearing stress of the mask body is increased more than that of gas, and the foot is not easily sprained.
Example 3
A technical scheme of embodiment 1 or embodiment 2 is added on the basis of the existing sports shoes, but a first probe, a second probe, a third probe and a displacement sensor are removed, a radar detection module and a fourth probe are additionally arranged, the fourth probe is a probe head of the radar detection module, a groove with a downward opening is formed in the middle of the sole of the sports shoes, and the fourth probe is installed in the groove and then connected with a control circuit board through a wire. The mounting box is also mounted on the rear upper of the sports shoe and is communicated with the figure 6. Furthermore, the outer periphery of the sleeve body is connected with the inner wall of the sports shoe, so that people can use the sports shoe without installing various components on the shoe as in the embodiments 1 and 2. And this embodiment adopts radar detection, so can detect the below and whether have the object, whether have the shoes to invade, can judge the condition of filling up the foot better, when detecting out the pad foot, control circuit board control injection mechanism pours into the material into to holding the intracavity into, so can protect the ankle better.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art should make general changes and substitutions within the technical scope of the present invention to be included in the protection scope of the present invention.

Claims (10)

1. An ankle protective sheath, its characterized in that: the ankle protective cover comprises a soft cover body, wherein an accommodating cavity is arranged in the cover body, and the cover body comprises an ankle cover sleeved outside an ankle; the device also comprises an installation box, wherein a displacement sensor, a control circuit board, a condenser and an electric control injection mechanism are installed in the installation box; the injection mechanism injects a substance with fluidity into the containing cavity; the first probe is installed to the installation case lower extreme, first probe, condenser and injection mechanism respectively with control circuit board electric connection.
2. An ankle protective cover according to claim 1, wherein: the cover body also comprises a foot cover connected to the upper end of the ankle cover.
3. An ankle protective cover according to claim 1, wherein: the cover body also comprises a sole cover connected to the lower end of the ankle cover.
4. An ankle protective cover according to claim 1, wherein: the cover body is formed by winding a plurality of soft pipelines, the pipelines are woven into a net shape and communicated with each other, and cavities in the pipelines form accommodating cavities.
5. An ankle protective cover according to claim 1, wherein: the mounting box is also provided with two second probes and a third probe outside, and the second probes and the third probe are respectively and electrically connected with the control circuit board.
6. An ankle protective cover according to claim 1, wherein: the mounting box is externally provided with a first knob and a second knob, and the two knobs are electrically connected with the controller.
7. An ankle protective cover according to claim 1, wherein: the hanging plate is installed outside the installation box, a bonding strip is further bonded on the hanging plate installation box, and the bonding strip is located below the hanging plate.
8. An ankle protective cover according to claim 1, wherein: the injection mechanism is an air pump, the substance is air, and the air pump is connected with the accommodating cavity through an air pipe.
9. An ankle protective cover according to claim 1, wherein: the injection mechanism is a hydraulic pump, the substance is liquid, and the hydraulic pump is connected with the accommodating cavity through a hydraulic pipe.
10. An ankle protective cover according to claim 1, wherein: the glove also comprises a double-layer glove body, and the glove body is arranged in the glove body.
CN202111125079.7A 2021-09-25 2021-09-25 Ankle protective sleeve Active CN113940464B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111125079.7A CN113940464B (en) 2021-09-25 2021-09-25 Ankle protective sleeve

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111125079.7A CN113940464B (en) 2021-09-25 2021-09-25 Ankle protective sleeve

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CN113940464A true CN113940464A (en) 2022-01-18
CN113940464B CN113940464B (en) 2023-10-20

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114680424A (en) * 2022-04-14 2022-07-01 浙江大学 Dynamically-adjusted flexible arch-ankle system and control method thereof

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995011604A1 (en) * 1993-10-25 1995-05-04 Willie Charles Richardson Lightweight althletic shoe with foot and ankle support systems
US5596770A (en) * 1995-11-01 1997-01-28 Kunesh; J. Denise Two-ply inflatable sock
US20050274045A1 (en) * 2004-06-10 2005-12-15 Marc Selner Athletic footwear and the like with integral supinator device
CN101138436A (en) * 2006-09-05 2008-03-12 李岩 Adjustable type inflating athletic hose
CN101193565A (en) * 2005-06-10 2008-06-04 X-科技瑞士有限责任公司 Sock with air regulating channel
US20130245525A1 (en) * 2012-05-05 2013-09-19 Ronnie E. Cromer, JR. Ankle inversion and eversion prevention shoe
CN205648969U (en) * 2016-05-15 2016-10-19 黄秀惠 Articular sports shoes device of protection ankle
CN206227797U (en) * 2016-12-08 2017-06-09 白杰 A kind of hollow out bandage footwear of anti-pin of rivering bend
CN108260884A (en) * 2018-02-06 2018-07-10 陈忠 Intelligent radio charging bluetooth heating shoe
CN207870408U (en) * 2017-09-11 2018-09-18 安踏(中国)有限公司 A kind of the bradyseism linkage and sport footwear of shoe body
CN109310530A (en) * 2015-06-15 2019-02-05 泰维诺-梅迪有限公司 For avoiding the thrombosed device in Venous leg
CN209376809U (en) * 2018-07-13 2019-09-13 福建鸿星尔克体育用品有限公司 A kind of intelligence ventilated track shoes
US20190297990A1 (en) * 2018-03-29 2019-10-03 Lacrosse Footwear, Inc. Footwear assembly having a vulcanized rubber layer and polyurethane layer
CN209965363U (en) * 2018-10-10 2020-01-21 泉州匹克鞋业有限公司 Novel sports shoes
CN211433539U (en) * 2019-06-03 2020-09-08 亿莱富(厦门)矫形器材有限公司 Inflatable foot protection ankle

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995011604A1 (en) * 1993-10-25 1995-05-04 Willie Charles Richardson Lightweight althletic shoe with foot and ankle support systems
US5596770A (en) * 1995-11-01 1997-01-28 Kunesh; J. Denise Two-ply inflatable sock
US20050274045A1 (en) * 2004-06-10 2005-12-15 Marc Selner Athletic footwear and the like with integral supinator device
CN101193565A (en) * 2005-06-10 2008-06-04 X-科技瑞士有限责任公司 Sock with air regulating channel
CN101138436A (en) * 2006-09-05 2008-03-12 李岩 Adjustable type inflating athletic hose
US20130245525A1 (en) * 2012-05-05 2013-09-19 Ronnie E. Cromer, JR. Ankle inversion and eversion prevention shoe
CN109310530A (en) * 2015-06-15 2019-02-05 泰维诺-梅迪有限公司 For avoiding the thrombosed device in Venous leg
CN205648969U (en) * 2016-05-15 2016-10-19 黄秀惠 Articular sports shoes device of protection ankle
CN206227797U (en) * 2016-12-08 2017-06-09 白杰 A kind of hollow out bandage footwear of anti-pin of rivering bend
CN207870408U (en) * 2017-09-11 2018-09-18 安踏(中国)有限公司 A kind of the bradyseism linkage and sport footwear of shoe body
CN108260884A (en) * 2018-02-06 2018-07-10 陈忠 Intelligent radio charging bluetooth heating shoe
US20190297990A1 (en) * 2018-03-29 2019-10-03 Lacrosse Footwear, Inc. Footwear assembly having a vulcanized rubber layer and polyurethane layer
CN209376809U (en) * 2018-07-13 2019-09-13 福建鸿星尔克体育用品有限公司 A kind of intelligence ventilated track shoes
CN209965363U (en) * 2018-10-10 2020-01-21 泉州匹克鞋业有限公司 Novel sports shoes
CN211433539U (en) * 2019-06-03 2020-09-08 亿莱富(厦门)矫形器材有限公司 Inflatable foot protection ankle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114680424A (en) * 2022-04-14 2022-07-01 浙江大学 Dynamically-adjusted flexible arch-ankle system and control method thereof

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