CN1265763C - Multiple axial force platform array and human walking gait information gaining method - Google Patents

Abstract

The present invention discloses a multi-axial force platform array which comprises mounting tracks, a first six-axial force platform, a second six-axial force platform, a third six-axial force platform, a fourth six-axial force platform, a platform surface covering layer, a network sensing interface module and a network data collecting card, wherein the mounting tracks are horizontally adjusted by four adjusting screws and retaining nuts; force/ torque information measured by the four six-axial force platforms is sent to the network data collecting card of a computer by the network sensing interface module. The present invention simultaneously discloses a dynamic state gait information acquisition method by the multi-axial force platform array in the walking process of human bodies. The data processing of the obtained platform array force/ torque information is carried out by the computer, and the information, such as pace, step distances, step speed, etc., is calculated. Because the both foot gait information in the walking process of the human bodies is measured, the present invention can obtain the gait information, and can realize the real time measurement of a center of pressure point COP in the walking process of the human bodies. The present invention is used for testing, analyzing and evaluating capacity of balance, physical coordination and neural systems of the human bodies.

Description

A kind of multiaxis power plane matrix and human body walking gait information getting method

Affiliated field

The present invention relates to medical domain, be particularly related to test, analysis and evaluation system and method, promptly a kind of multiaxis power plane matrix and the human body walking gait information getting method of a kind of human walking procedure's gait dynamics information that is used for sport biomechanics and neural subject and balance, coordination.

Technical background

Attitude when gait is human locomotion, refer to a series of continuously actives of human body by hip, knee joint, ankle, toes, the process that health is moved along certain orientation, normal gait have stability, periodicity and rhythmicity, directivity, harmony and individual difference.Gait research has become one of focus of rehabilitation medicine and human motion biomechanics Research, and it is an important parameter that is used for estimating human body displacement ability and medical diagnosis on disease.

When there is disease in people, gait feature will have tangible change.Can be by analysis to body gait, training that the help doctor carries out etiological analysis and the state of an illness is diagnosed, rehabilitation situation, the patient directions of observation patient lower limb are walked.Simultaneously, gait analysis is significant to researchs such as artificial joint, artifucial limb, rehabilitation training and equipment.With regard to artificial joint, gait research helps to set up design and testing standard, improves the performance of artificial joint.

In the research process of human motion biomechanics, the kinesiology of human motion and kinetics are two general orientation of research always, the variation of the speed of human body, acceleration, barycenter in the motor process, and extraneous impose on external force of this biomechanics system of human body or the like, can obtain by test and analysis body gait.

In the dynamic walking movement process of human body, need to measure some parameters, mainly comprise time parameter, spatial parameter, space-time parameter and mechanics parameter, wherein time parameter mainly is meant support phase and each action phase sequential distribution of shaking peroid in the walking process; Spatial parameter comprises step-length, step girth, step pitch, health barycenter dipping and heaving amplitude etc.; The space-time parameter comprises angle-time curve in gait cycle of hip, knee joint, ankle, centre of body weight acceleration (direction of motion, vertical direction) etc.; Mechanics parameter comprises that biped is perpendicular to the ground, all around contact force etc.

Gait experimentation the earliest occurs in twentieth century at the beginning, Fisher (1809～1904), Bernstein (1935) have carried out the experimentation work at initial stage in this field, but their research is restricted owing to lacking the device of measuring the active force that transmits between ground and the sole.Next, Elftman (1939,1940) has examined or check the power effect in travel plane, and according to having calculated in this planar moment by the lower limb displacement of cinematographic film record with by power platform record active force.People's walking movement has systematically been studied by Gary Fu Niya university, and research has comprised that lower limb are in spatial linearity and angular movement, speed and acceleration, the applied external force on the lower limb, the information gathering of the operational phase of lower limb muscles system and analysis.The work of this university still is considered to a standard of human walking research so far.

Since the end of the sixties, the gait experimental technique is improved.After entering the eighties, area of computer aided telephotography motion analysis system is practicability gradually.These systems provide measures the accurate three-dimensional locus that is placed on the gauge point with reflecting surface material on the crucial anatomical features point of the health place outer surface.Biomechanical model analytical technology based on lower limb, by these position datas, kinesiology of each section of lower limb and dynamics data can be obtained, and add ground that the platform measuring of relying on oneself the obtains counteracting force to sole, then can analyze the external force and the moment that act on each section of lower limb.

The gait analysis system of external current comparative maturity has CODA-III, SELSPOT-II, ELLTE and VICON etc., and they all are made up of force plate, ir imaging system and exclusive data datatron and computer.The counteracting force on ground when force plate is used to measure human body walking, and the motion in each joint and position of human body are determined by ir imaging system, the infrared markers point is attached on the detected part of human body, accept the infrared signal that sends and returned by the infrared markers point reflection by it by video camera, generate the movement position coordinate of human body again by the data process machine of special use, at last with these ground reaction forces, human motion positional information input computer, the center of mass motion of human body when calculating walking, energy variation, the power that consumes, movement position, stressed and the muscle moment in joint etc.This cover measuring and analysis system can be finished the mechanical meaurement to human body walking more accurately.

SELSPOT-II3 dimension movement measurement system is gathered the space coordinates posture information in real time, the occasion that can be widely used in gait analysis, object of which movement and other big displacement movements, it is made of the computer of 4 photographing units, control unit and configuration related software.Can write down attached to the space coordinate transformation that reaches most 36 infrarede emitting diodes on experimenter's health.

VICON 3D is motion-captured very extensive with application analytical system, has: gait analysis, biomechanics, rehabilitation medicine, sports science, animal movement, motor control, attitude and balance, ergonomics etc.

At home, almost do not have company to carry out the production of whole system, great majority all are to be confined to breadboard research in university, the institute.People such as the Xu Naiming of Shanghai Second Emdical University, Dai Kerong carry out the computational analysis of gait research and knee joint, ankle joint joint power and muscular force when the level walking from employing process photography in 1980 and homemade S9-1 type gait analysis system.And on its basis, developed S9-2 type microcomputer gait analysis system.The people such as Men Hongxue of the 208 hospital of the Chinese People's Liberation Army have developed three-dimensional force dynamometry boots formula gait analysis system.This boots formula gait analysis system is made up of three-dimensional force dynamometry boots, multichannel amplifier and microsystem.

From top analysis as can be seen, at present abroad aspect gait analysis system kind more, but mainly be based on kinematic method is main, and not only comprise kinematic information in the test of gait information, the what is more important dynamic information, though external CODA-III, SELSPOT-II, ELLTE and VICON also comprise force plate, do not possess the function of obtaining gait time parameter, space-time parameter and mechanics parameter information simultaneously.And the employing three-dimensional force platform that domestic Tsing-Hua University proposes obtains size, directional information that the platform of dynamic information can only obtain relevant power, can't obtain the application point of the power in the walking process, makes information such as relevant step pitch, step-length, leg speed to obtain.

The present invention proposes a kind of array system that constitutes based on the sextuple power platform of new structure, it not only can measure the three-dimensional force information that foot contacts with ground, and can obtain People's Bank of China by the array that a plurality of platforms constitute and walk pairing gait time parameter of single support phase in the process, period of double support, shaking peroid, space-time parameter and mechanics parameter, can realize simultaneously the real-time measurement of some COP in Center of Pressure among the human walking procedure, be used for balanced ability of human body, coordination of body and neural test, analysis and evaluation.

Summary of the invention:

The objective of the invention is: the test macro and the gait detection method that provide a kind of human walking procedure's of being used for gait dynamics information to obtain, it is the plane matrix that adopts the sextuple power platform formation of a plurality of new structures, adopt the network sensing technology that each platform is bound up, form a walking track, in the process that the people walks in the above, can obtain in foot's walking process contact force on each support phase and ground, and by calculating stride, step pitch, gait information such as leg speed, can realize simultaneously the variation track of some COP in Center of Pressure among the human walking procedure, thereby realize balanced ability of human body, the test of situation such as the coordination ability and rehabilitation, analyze.

Technical scheme of the present invention is: a kind of multiaxis power plane matrix, it is by pedestal (1), attachment rail (2), adjust screw (3), clamp nut (4), first six power platforms (5), second six power platforms (6), the 3rd six power platforms (7), the 4th six power platforms (8), table top cover layer (9), network sensing interface module (10), network data acquisition card (11), computer PC (12) is formed, wherein four six power plane matrix adopt identical structural design and size, each sextuple power platform all is to adopt two circular iris structures, and each platform is by upper table surface (13), last Elastic Circular diaphragm (14), rood beam (15), following Elastic Circular diaphragm (16), following table (17) constitutes.It is characterized in that:

The installation site of whole plane matrix and installation direction are to be guaranteed by attachment rail (2), attachment rail (2) is four platforms (5), (6), (7), (8) reference for installation, each platform following table (17) is a tetragonal body, adopt under centrosymmetry mode and the platform flange spiral marking connection on the Elastic Circular diaphragm (16) together, the tetragonal body side is a platform bottom surface datum clamp face;

Attachment rail (2) relies on four adjustment screws (3) and four clamp nuts (4) to realize horizontal adjustment, before plane matrix is installed, at first calibrate by level indicator, and the adjustment screw guarantees the level of mounting guide rail, be fixed on ground then, power/moment information that four six power platform measurings of platform obtain is connected to the network data acquisition card (11) of computer PC (12) by network sensing interface module (10).

Last Elastic Circular diaphragm (14) and following Elastic Circular diaphragm (16) are hard division center, the diameter at hard center equals the external diameter of rood beam, and the hard centrosymmetry of last Elastic Circular diaphragm (14) is processed with cross recess, be symmetrily processed with cross recess in the heart during following Elastic Circular diaphragm (16) is hard, cross recessed length and width size equals the length and width of rood beam, and the cross recessed degree of depth is 5mm;

The cross recess of last Elastic Circular diaphragm (14) and following Elastic Circular diaphragm (16) adopts matched in clearance to guarantee that the circular iris in-plane is consistent up and down with rood beam (15).And this direction is consistent with the sensor coordinates direction of whole platform definition, and each platform has an independently coordinate system, and the upper surface that is above Elastic Circular diaphragm (14) respectively is the XY coordinate plane, central shaft to be Z to, coordinate system meets the right-hand rule.

The table top cover layer adopts light-weight soft material, and the vision globality of the whole array of principal security makes the gait that keeps nature in the above when tested object is walked not to be subjected to the influence of independent platform.

The present invention discloses a kind of detection method that is used for the dynamic gait of human body, the gait detection method comprises that the information of the stressed size of single platform, application point, direction in the walking process is obtained with the information of gait parameters such as stride, step pitch, leg speed to be obtained, and it is characterized in that:

The last Elastic Circular diaphragm (14) of four sextuple power platforms, rood beam (15), following Elastic Circular diaphragm (16) are gone up the strain force sensing resistance of pasting, realize obtaining by different responsive bridge circuit arrangements to sextuple force information, and obtain coupled relation between dimension by demarcation, six groups of bridge circuit output decouplings are handled realized that three-dimensional force (Fx Fy Fz) and three-dimensional moment (Mx My Mz) information independently obtains;

Four sextuple power platforms all have independently coordinate system, and its zero separately is defined as Elastic Circular diaphragm (14) sensitive area center, wherein the circular iris axis direction be Z to, corresponding X, Y direction meet Ka Dier coordinate dextrorotation direction.

Be carved with expression X, the mutually perpendicular reference mark line of Y direction on circular iris, the last lower flange, with the concordance that guarantees that X in platform sensor design, the installation process, Y coordinate direction transmit;

X, Y yawning moment information are obtained responsive bridge circuit and are adopted in the orthogonal layout in last Elastic Circular diaphragm (14) plane, and its force sensing resistance arranged direction is identical with the sensing unit arranged direction of following Elastic Circular diaphragm (16), wherein:

Resistance R1y, R2y, R3y, R4y are arranged symmetrically on the diaphragm sensitive area on last Elastic Circular diaphragm (14) sensitive area, wherein R1y, R4y are arranged in the circular iris cylindrical near ring flange, R2y, R3y are arranged in the circular iris inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing moment M _xMeasurement;

Resistance R1x, R2x, R3x, R4x are arranged symmetrically on the diaphragm sensitive area on last Elastic Circular diaphragm (14) sensitive area, wherein R1x, R4x are arranged in the circular iris cylindrical near ring flange, R2x, R3x are arranged in the circular iris inner circular part branch near hard center, and R1x, R2x, R3x, R4x form full-bridge and be used for realizing measurement to moment My;

Two sensitive directions of following Elastic Circular diaphragm (16) and last Elastic Circular diaphragm (14) require to be consistent, X, Y direction force information obtain responsive bridge circuit and are realized by resistance R 1x, R2x, R3x, R4x and R1y, R2y, R3y, R4y, it adopts orthogonal layout in infra Elastic Circular diaphragm (16) plane, Z direction force information obtains sensitive resistance R1z, R2z, R3z, R4z are arranged in down Elastic Circular diaphragm (16) upper edge X, the crossing 45 degree directions of Y sensitive direction, wherein:

Resistance R1x, R2x, R3x, R4x are arranged symmetrically on the diaphragm sensitive area on following Elastic Circular diaphragm (16) sensitive area, wherein R1x, R4x are arranged in the circular iris cylindrical near ring flange, R2x, R3x are arranged in the circular iris inner circular part branch near hard center, and R1x, R2x, R3x, R4x form full-bridge and be used for realizing power F _xMeasurement;

Resistance R1y, R2y, R3y, R4y are arranged symmetrically on the diaphragm sensitive area on following Elastic Circular diaphragm (16) sensitive area, wherein R1y, R4y are arranged in the circular iris cylindrical near ring flange, R2y, R3y are arranged in the circular iris inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing power F _yMeasurement;

Resistance R1z, R2z, R3z, R4z are arranged symmetrically on the diaphragm sensitive area on following Elastic Circular diaphragm (16) sensitive area, wherein R1z, R4z are arranged in the circular iris cylindrical near ring flange, R2z, R3z are arranged in the circular iris inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing power F _zMeasurement;

Resistance R 1z, R2z, R3z, R4z on last Elastic Circular diaphragm (16) sensitive area can also provide one the tunnel to power F _zThe redundancy of measuring is used for pick up calibration;

Resistance R 1, R2, R3, R4 on rood beam (15) sensitive area is used for realizing the measurement to moment Mz;

The signal processing circuit of pick off comprises two parts: analog processing circuit and digital processing circuit, analog processing circuit and digital processing circuit can place sensor internal simultaneously, also analog processing circuit can be placed sensor internal, in the present invention, digital processing circuit and Network Interface Module are an integral body;

Single support phase in the walking process, period of double support, shaking peroid pairing gait time parameter information to obtain be that the Time Calculation that both feet contact with varying mesa during by human locomotion obtains leg speed information, calculate step pitch, stride parameter information by the contact position that obtains both feet and varying mesa, and the mechanics parameter information of each different gait cycles is obtained by the three-dimensional force information that each table top provides itself.Computational methods are as follows:

Table top center with first sextuple power platform (5) is zero (O, O, O), first sextuple power platform (5), second six power platforms (6), the 3rd six power platforms (7), the 4th six power platforms (8) each other spacing be fixed value S _Y, platform is installed along Y direction, and each platform all has coordinate system, is respectively (X ₁, Y ₁, Z ₁) (X ₂, Y ₂, Z ₂) (X ₃, Y ₃, Z ₃) (X ₄, Y ₄, Z ₄), Z1=Z2=Z3=Z4=S wherein _ZAmong the human walking procedure, the biped contact position on each platform respectively is defined as (x1, y1, S _Z) (x2, y2, S _Z) (x3, y3, S _Z) (x4, y4, S _Z), thereby obtain

Step pitch=| (x2-x1)+(x3-x2)+(x4-x3) |/3

Stride=| (y2+S _Y-y1)+(y3+S _Y-y2)+(y4+S _Y-y3) |/3

Leg speed=stride/t

The t interval that to be biped contact respectively with four table tops wherein.

Single platform biped contact position Coordinate Calculation, referring to single platform coordinate system and coordinate position, wherein when stress point was A, its position calculation formula in coordinate system was:

$\left\{\begin{array}{c}x=\frac{{-M}_y+F_x\·z}{F_z}\\ y=\frac{M_x+F_y\·z}{F_z}\end{array}\right.$

Described COP track computational methods are that inertia force, gravity and the frictional force application point variation track of power on platform according to each joint of health among the human walking procedure obtains, and concrete implication ZMP definition is consistent, and the Practical Calculation method is as follows.

For shown in kinematic chain, the ZMP condition can be described as formula:

$\underset{i}{\mathrm{\Σ}}(r_i\×m_i{a}_i+I_i{\mathrm{\α}}_i+{\mathrm{\ω}}_i\×I_i{\mathrm{\ω}}_i)-\underset{i}{\mathrm{\Σ}}{r}_i\×m_{i}g={(\mathrm{0,0},*)}^T---\left(1\right)$

Wherein: r _i=p _i-p _Zmp, p _i=(x, y, 0) is the contact point on whole kinematic chain and ground, p _Zmp=(x _Zmp, y _Zmp, 0) ^T

m _iAnd I _iBe respectively the quality and the rotary inertia of i kinematic chain;

ω _iAnd α _iBe respectively the angular velocity and the angular acceleration of i kinematic chain;

G is an acceleration of gravity;

* represent some values, (0,0, *) ^TA kind of form of expression vector.

For kinematic chain, at period of double support, left and right sides foot and ground all have point of contact, and by this point, there is synthetic counteracting force (f on ground in the face of kinematic chain _LOr f _R) and the moment of reaction (n _LOr n _R), in fact the moment of reaction here is exactly the measured M of sextuple power/torque sensor _z(thereby 1) formula can be converted into:

$-\underset{i}{\mathrm{\Σ}}(r_i\×m_i(a_i-g)+I_i{\mathrm{\α}}_i+{\mathrm{\ω}}_i\×I_i{\mathrm{\ω}}_i)+r_L\×f_L+r_R\×f_R+n_L+n_R=0---\left(2\right)$

Wherein: r _L/R=p _L/R-p _Zmp=(*, *, 0) ^T, p _L/RThe contact point on foot and ground about being respectively;

n _L/R＝(0，0，*) ^T

So:

r _L×f _L+r _R×f _R+n _L+n _R＝(0，0，*) ^T (3)

The ZMP point calculates relevant with people's state of living in, and is as follows in the computing formula of single support phase and period of double support correspondence: single foot supports the phase, and under single foot holding state, (3) formula is reduced to:

r×f+n＝(0，0，*) ^T (4)

Wherein: r=(x-x _Zmp, y-y _Zmp, 0), f=(f _x, f _y, f _z), n=(0,0, *) ^T

Have:

$r\×f=\left|\begin{array}{ccc}i& j& k\\ x-x_{\mathrm{zmp}}& y-y_{\mathrm{zmp}}& 0\\ f_x& f_y& f_z\end{array}\right|=(y-y_{\mathrm{zmp}})f_{z}i-(x-x_{\mathrm{zmp}})f_{z}j+[(x-x_{\mathrm{zmp}})f_y-(y-y_{\mathrm{zmp}})f_x]k$ By

Formula (4) can have:

$\left\{\begin{array}{c}(y-y_{\mathrm{zmp}})f_z=0\\ (x-x_{\mathrm{zmp}})f_z=0\end{array}\right.\⇒\left\{\begin{array}{c}{x}_{\mathrm{zmp}}=x\\ y_{\mathrm{zmp}}=y\end{array}\right.---\left(5\right)$

So, supporting the phase at single foot, actual ZMP point is exactly the contact point on single foot and ground.Double support phase, the computing formula of ZMP is as follows:

Under double-legged holding state, left sufficient f _L=(f _Lx, f _Ly, f _Lz), in like manner, f _R=(f _Rx, f _Ry, f _Rz), in (3) formula, have:

$r_L\×f_L=\left|\begin{array}{ccc}i& j& k\\ x_L-x_{\mathrm{zmp}}& y_L-y_{\mathrm{zmp}}& 0\\ f_{\mathrm{Lx}}& f_{\mathrm{Ly}}& f_{\mathrm{Lz}}\end{array}\right|$

$=(y_L-y_{\mathrm{zmp}})f_{\mathrm{Lz}}i-(x_L-x_{\mathrm{zmp}})f_{\mathrm{Lz}}j+[(x_L-x_{\mathrm{zmp}})f_{\mathrm{Ly}}-(y_L-y_{\mathrm{zmp}})f_{\mathrm{Lx}}]k$

In like manner:

r _R×f _R＝(y _R-y _zmp)f _Rzi-(x _R-x _zmp)f _Rzj+[(x _R-x _zmp)f _Ry-(y _R-y _zmp)f _Rx]k

$\⇒\left\{\begin{array}{c}(y_L-y_{\mathrm{zmp}})f_{\mathrm{Lz}}+(y_R-y_{\mathrm{zmp}})f_{\mathrm{Rz}}=0\\ (x_L-x_{\mathrm{zmp}})f_{\mathrm{Lz}}+(x_R-x_{\mathrm{zmp}})f_{\mathrm{Rz}}=0\end{array}\right.$

$\⇒\left\{\begin{array}{c}{x}_{\mathrm{zmp}}=\frac{x_L{f}_{\mathrm{Lz}}+x_R{f}_{\mathrm{Rz}}}{f_{\mathrm{Lz}}+f_{\mathrm{Rz}}}\\ y_{\mathrm{zmp}}=\frac{y_L{f}_{\mathrm{Lz}}+y_R{f}_{\mathrm{Rz}}}{f_{\mathrm{Lz}}+f_{\mathrm{Rz}}}\end{array}\right.$

Be installed in four or a plurality of sextuple power platform on the fixed track according to the method described above equally spacedly, constitute a TCH test channel, adopt the network sensing technology that sextuple power/moment information that each platform obtains is sent in the computer PC, when the people walks on TCH test channel, system obtains the contact force/moment information of foot and platform in the walking process in real time, calculate stride by said method, step pitch, gait information such as leg speed, and the variation track of Center of Pressure point COP among the human walking procedure, thereby realize balanced ability of human body, the test of the coordination ability and postoperative rehabilitation situation, analyze and estimate.

The invention has the beneficial effects as follows: by the network sensing technology, a plurality of sextuple power plateform systems are formed an array, can realize that not only health can also write down gait information such as stride in the walking process, step pitch, leg speed to the three-dimensional active force on ground among the human walking procedure.The present invention can be used for the measurement to human walking procedure's biped gait information, not only can measure gait information, also can realize the real-time measurement of some COP in Center of Pressure among the human walking procedure, be used for balanced ability of human body, coordination of body and neural test, analysis and evaluation.

Description of drawings

Below in conjunction with drawings and Examples patent of the present invention is described further.

Fig. 1 is the whole system general illustration;

Fig. 2 is the side view of plane matrix;

Fig. 3 is the three-dimensional view of plane matrix

Fig. 4 is that the single platform array is installed adjustment mode sketch map;

Fig. 5 is a single platform array structure sketch map;

Elastic Circular diaphragm strain resistor layout drawing on Fig. 6;

Fig. 7 rood beam strain resistor layout drawing;

Elastic Circular diaphragm strain resistor layout drawing under Fig. 8;

Fig. 9 single platform array coordinate system and position coordinates calculate;

Figure 10 gait parameter definition sketch map;

Figure 11 human walking procedure gait test process.

Among Fig. 1,1, pedestal, 2, attachment rail, 3, adjust screw, 4, clamp nut, 5, first six power platforms, 6, second six power platforms, 7, the 3rd six power platforms, 8, the 4th six power platforms, 9, the table top cover layer, 10, network sensing interface module, 11, network data acquisition card, 12, computer PC.

The specific embodiment

Fig. 1, Fig. 2, Fig. 3 are respectively the side view and the three-dimensional views of whole plane matrix system schematic, plane matrix, whole system by pedestal 1, attachment rail 2, adjust screw 3, clamp nut 4, first six power platforms 5, second six power platform 6, the 3rd six power platforms 7, the 4th six power platforms 8, table top cover layer 9, network sensing interface module 10, network data acquisition card 11, computer PC 12 are formed.

Wherein four six power platforms adopt identical structural design and sizes, and each sextuple power platform all is to adopt two circular iris structures, and each platform is by upper table surface 13, go up Elastic Circular diaphragm 14, rood beam 15, Elastic Circular diaphragm 16, following table 17 constitute down.

The installation site of whole plane matrix and installation direction are to be guaranteed by attachment rail 2, and attachment rail 2 is four platforms 5,6,7,8 reference for installation.Attachment rail adopts T type girder construction, and mutually perpendicular two faces of T type beam need guarantee higher flatness and perpendicularity, and equally spaced distance is processed with installing hole on the beam, and the distance of installing hole is greater than platform upper table surface length dimension, and surpasses 20mm ± 0.05.Each platform following table 17 is tetragonal bodies, adopts under centrosymmetry mode and the platform flange spiral marking connection on the Elastic Circular diaphragm 16 together, and the tetragonal body side is a bottom surface platform datum clamp face.

Attachment rail 2 relies on four adjustment screws 3 and four clamp nuts 4 to realize horizontal adjustment, before plane matrix is installed, at first calibrate by level indicator, and the adjustment screw guarantees the level of mounting guide rail, be fixed on ground then, power/moment information that four six power platform measurings of platform obtain is connected to the network data acquisition card 11 of computer PC 12 by network sensing interface module 10.

The table top cover layer adopts light-weight soft material, and the vision globality of the whole array of principal security makes the gait that keeps nature in the above when tested object is walked not to be subjected to the influence of independent platform.

Fig. 4 is that single platform is installed adjustment mode sketch map, and base 1 predetermined fixed is adjusted T type guide rail 2 by adjusting screw 3 on the ground, makes it be in level, and fixing by clamp nut 4.Guide rail 2 also can adopt slab construction, and it is rectangular only need to inlay benchmark along the mounting platform direction at flat board, when flat board is adjusted to level, aforementioned manner can be installed each platform is installed.The following table 17 of guide rail and platform all adopts through hole, in each platform installation process, is to fix by screw bolt and nut, to reduce stress is installed.

Fig. 5 is the single platform structural representation, last Elastic Circular diaphragm 14 and following Elastic Circular diaphragm 16 are hard division center, and the diameter at hard center equals the external diameter of rood beam, and concrete size is decided according to different mesa dimensions, during as mesa dimensions 400mm * 400mm, external diameter is 100mm.And last Elastic Circular diaphragm 14 hard centrosymmetry are processed with cross recess, are symmetrily processed with cross recess in the heart during following Elastic Circular diaphragm 16 is hard, and cross recessed length and width size equals the length and width of rood beam, and the cross recessed degree of depth is 5mm.

The cross recess of last Elastic Circular diaphragm 14 and following Elastic Circular diaphragm 16 adopts matched in clearance to guarantee that circular iris plane coordinates direction is consistent up and down with rood beam 15.And this direction is consistent with the sensor coordinates direction of whole platform definition, and each platform has an independently coordinate system, and the upper surface that is above Elastic Circular diaphragm 14 respectively is the XY coordinate plane, central shaft to be Z to, coordinate system meets the right-hand rule.

Fig. 6 goes up Elastic Circular diaphragm strain resistor layout drawing, resistance R1y, R2y, R3y, R4y are arranged symmetrically on the circular iris sensitive area on last Elastic Circular diaphragm 14 sensitive areas, wherein R1y, R4y are arranged in the circular iris cylindrical near ring flange, R2y, R3y are arranged in the circular iris inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing moment M _xMeasurement;

Resistance R1x, R2x, R3x, R4x are arranged symmetrically on the circular iris sensitive area on last Elastic Circular diaphragm 14 sensitive areas, wherein R1x, R4x are arranged in the circular iris cylindrical near ring flange, R2x, R3x are arranged in the circular iris inner circular part branch near hard center, and R1x, R2x, R3x, R4x form full-bridge and be used for realizing moment M _yMeasurement;

Resistance R 1z, R2z, R3z, R4z on last Elastic Circular diaphragm 14 sensitive areas can also provide one the tunnel to power F _zThe redundancy of measuring, R1z, R2z, R3z, R4z are arranged symmetrically on the circular iris sensitive area, wherein R1z, R4z are arranged in the circular iris cylindrical near ring flange, R2z, R3z are arranged in the circular iris inner circular part branch near hard center, and R1z, R2z, R3z, R4z form full-bridge and be used for realizing measurement to moment Fz;

Fig. 7 is a rood beam strain resistor layout drawing, resistance R 1, R2, R3, R4 on rood beam 15 sensitive areas is used for realizing the measurement to moment Mz, resistance R 1, R2, R3, R4 are arranged symmetrically on four beams according to shown position, the paster direction is along diagonal, and the edge of four as close as possible rood beams 15 of strain resistor.

Fig. 8 is following Elastic Circular diaphragm strain resistor layout drawing, two sensitive directions of following Elastic Circular diaphragm 16 and last Elastic Circular diaphragm 14 require to be consistent, X, Y direction force information obtain responsive bridge circuit and are realized by resistance R 1x, R2x, R3x, R4x and R1y, R2y, R3y, R4y, it adopts orthogonal layout in infra Elastic Circular diaphragm 16 planes, Z direction force information obtains sensitive resistance R1z, R2z, R3z, R4z are arranged in down Elastic Circular diaphragm 16 upper edge X, the crossing 45 degree directions of Y sensitive direction, wherein:

Resistance R1x, R2x, R3x, R4x are arranged symmetrically on the circular iris sensitive area on following Elastic Circular diaphragm 16 sensitive areas, wherein R1x, R4x are arranged in the circular iris cylindrical near ring flange, R2x, R3x are arranged in the circular iris inner circular part branch near hard center, and R1x, R2x, R3x, R4x form full-bridge and be used for realizing power F _xMeasurement;

Resistance R1y, R2y, R3y, R4y are arranged symmetrically on the circular iris sensitive area on following Elastic Circular diaphragm 16 sensitive areas, wherein R1y, R4y are arranged in the circular iris cylindrical near ring flange, R2y, R3y are arranged in the circular iris inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing power F _yMeasurement;

Resistance R1z, R2z, R3z, R4z are arranged symmetrically on the circular iris sensitive area on following Elastic Circular diaphragm 16 sensitive areas, wherein R1z, R4z are arranged in the circular iris cylindrical near ring flange, R2z, R3z are arranged in the circular iris inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing power F _zMeasurement.

Fig. 9 is that single platform coordinate system and position coordinates calculate, for each platform, an independently coordinate system is all arranged, it is that the last membrana cricovocalis plate plane with platform among Fig. 4 is the XY plane, the circular iris center is the Z direction, platform upper table surface 14 range coordinate plan ranges are z, and then the contacting points position of biped and table top can obtain according to above-mentioned computational methods.

Figure 10 has provided the definition of the pairing step-length of human body walking cycle, step pitch and a step girth here for gait parameter definition sketch map, and wherein step-length is meant that left and right sides heel among the human walking procedure follows away the distance of direction correspondence; Step pitch claims that also the step is wide, is meant that the biped center is along the distance of directions X among the human walking procedure; Step, girth was meant a human body walking cycle, and left foot or right crus of diaphragm follow away the direction respective distances.

Figure 11 is human walking procedure's gait test process, and the test of whole human body walking process can be finished the test of gait by the array that four platforms is formed, and when on the right threading in the human body biped during first platform, left foot is liftoff promptly to begin first single support phase;

When the human body left foot drops on second platform, promptly begin first period of double support; The action that repeats the front subsequently promptly realizes second single support phase and second period of double support.There is a shaking peroid in the intermediary process of single period of double support.Owing in the walking process, every foot acts on respectively on the different platforms, thereby can realize the test of gait information in the different gait cycles of human body.

Pass through sensor-based network technology, a plurality of (at least four) sextuple power platform is formed a multiaxis power plane matrix, can realize the gait test among the human walking procedure, mainly comprise information such as step-length, step pitch, step girth and leg speed, the variation track of the Center of Pressure point (COP) among the human walking procedure also can obtain simultaneously.

By the variation of left and right foot and platform action power among the comparison human walking procedure, can judge the total balance of the body and the coordination ability, test, analyze and estimate with this nervous system and postoperative recovery situation human body.

Claims (2)

1. multiaxis power plane matrix, form by pedestal (1), attachment rail (2), adjustment screw (3), clamp nut (4), first six power platforms (5), second six power platforms (6), the 3rd six power platforms (7), computer PC (12), wherein four six power plane matrix adopt identical structural design and size, each six power platform all is to adopt two diaphragm structures, constitute by upper table surface (13), last Elastic Circular diaphragm (14), rood beam (15), following Elastic Circular diaphragm (16), following table (17), it is characterized in that:

The installation site of whole plane matrix and installation direction are to be guaranteed by attachment rail (2), attachment rail (2) is by four six power platforms (5), (6), (7), (8) reference for installation, each platform following table (17) is a tetragonal body, adopt under centrosymmetry mode and the platform flange spiral marking connection on the Elastic Circular diaphragm (16) together, the tetragonal body side is the bottom surface datum clamp face;

Attachment rail (2) relies on four adjustment screws (3) and four clamp nuts (4) to realize horizontal adjustment, before multiaxis power plane matrix is installed, at first calibrate by level indicator, and the adjustment screw guarantees the level of mounting guide rail, fix on the ground then, power/moment information that four six power platform measurings on the multiaxis power plane matrix obtain is connected on the network data acquisition card (11) of computer PC (12) by network sensing interface module (10);

Last Elastic Circular diaphragm (14) and following Elastic Circular diaphragm (16) are hard division center, the diameter at hard center equals the external diameter of rood beam, and all be symmetrily processed with cross recess in the heart during last Elastic Circular diaphragm (14) and following Elastic Circular diaphragm (16) are hard, cross recessed length and width size equals the length and width of rood beam, the cross recessed degree of depth is 5mm, and the cross recess of last Elastic Circular diaphragm (14) and following Elastic Circular diaphragm (16) and rood beam (15) adopt matched in clearance to guarantee the consistent of circular iris in-plane up and down.

2. an a kind of multiaxis power plane matrix as claimed in claim 1 is characterized in that the method that the dynamic gait of human body detects:

The strain force sensing resistance of all pasting on the last Elastic Circular diaphragm (14) of four six power platforms, rood beam (15), the following Elastic Circular diaphragm (16), this strain force sensing resistance is realized obtaining sextuple force information by different responsive bridge circuit arrangements, and obtain coupled relation between dimension by demarcation, six groups of bridge circuit output decouplings are handled realized that information is independently obtained and COP track computational methods are applied to detection for three-dimensional force (Fx Fy Fz) and three-dimensional moment (Mx My Mz);

Four six power platforms all have independently coordinate system, and its zero separately is defined as Elastic Circular diaphragm (14) sensitive area center, wherein go up Elastic Circular diaphragm (14) axis direction and be Z to, corresponding X, Y direction meet Ka Dier coordinate dextrorotation direction.Be carved with expression X, the mutually perpendicular reference mark line of Y direction on last Elastic Circular diaphragm (14), the last lower flange, transmit concordance to guarantee X in platform sensor design, the installation process, Y coordinate direction;

Circular iris direction unanimity up and down, and this direction is consistent with the sensor coordinates direction of whole platform definition, and each platform has an independently coordinate system, and the upper surface that is above Elastic Circular diaphragm (14) respectively is the XY coordinate plane, central shaft to be Z to, coordinate system meets the right-hand rule.

X, Y yawning moment information are obtained responsive bridge circuit and are adopted in the orthogonal layout in last Elastic Circular diaphragm (14) plane, its force sensing resistance arranged direction and following Elastic Circular diaphragm (16), wherein:

Resistance R1y, R2y, R3y, R4y are arranged symmetrically on the diaphragm sensitive area on last Elastic Circular diaphragm (14) sensitive area, wherein R1y, R4y are arranged in last Elastic Circular diaphragm (14) cylindrical near ring flange, R2y, R3y are arranged in last Elastic Circular diaphragm (14) the inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing moment M _xMeasurement;

Resistance R1x, R2x, R3x, R4x are arranged symmetrically on the diaphragm sensitive area on last Elastic Circular diaphragm (14) sensitive area, wherein R1x, R4x are arranged in last Elastic Circular diaphragm (14) cylindrical near ring flange, R2x, R3x are arranged in last Elastic Circular diaphragm (14) the inner circular part branch near hard center, and R1x, R2x, R3x, R4x form full-bridge and be used for realizing moment M _yMeasurement;

Two sensitive directions of following Elastic Circular diaphragm (16) and last Elastic Circular diaphragm (14) require to be consistent, X, Y direction force information obtain responsive bridge circuit and are realized by resistance R 1x, R2x, R3x, R4x and R1y, R2y, R3y, R4y, it adopts orthogonal layout in infra Elastic Circular diaphragm (16) plane, Z direction force information obtains sensitive resistance R1z, R2z, R3z, R4z are arranged in down Elastic Circular diaphragm (16) upper edge X, the crossing 45 degree directions of Y sensitive direction, wherein:

Resistance R1x, R2x, R3x, R4x are arranged symmetrically on the diaphragm sensitive area on following Elastic Circular diaphragm (16) sensitive area, wherein R1x, R4x are arranged in following Elastic Circular diaphragm (16) cylindrical near ring flange, R2x, R3x are arranged in following Elastic Circular diaphragm (16) the inner circular part branch near hard center, and R1x, R2x, R3x, R4x form full-bridge and be used for realizing power F _xMeasurement;

Resistance R1y, R2y, R3y, R4y are arranged symmetrically on the diaphragm sensitive area on following Elastic Circular diaphragm (16) sensitive area, wherein R1y, R4y are arranged in following Elastic Circular diaphragm (16) cylindrical near ring flange, R2y, R3y are arranged in following Elastic Circular diaphragm (16) the inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing power F _yMeasurement;

Resistance R1z, R2z, R3z, R4z are arranged symmetrically on the diaphragm sensitive area on following Elastic Circular diaphragm (16) sensitive area, wherein R1z, R4z are arranged in following Elastic Circular diaphragm (16) cylindrical near ring flange, R2z, R3z are arranged in following Elastic Circular diaphragm (16) the inner circular part branch near hard center, and R1y, R2y, R3y, R4y form full-bridge and be used for realizing power F _zMeasurement;

Resistance R 1z, the R2z, R3z, the R4z that wherein go up on Elastic Circular diaphragm (16) sensitive area can also provide one the tunnel to power F _zThe redundancy of measuring is used for pick up calibration;

Resistance R 1, R2, R3, R4 on rood beam (15) sensitive area is used for realizing the measurement to moment Mz; The signal processing circuit of pick off comprises two parts: analog processing circuit and digital processing circuit, analog processing circuit and digital processing circuit place sensor internal simultaneously, or analog processing circuit placed sensor internal, in the present invention, digital processing circuit and Network Interface Module are an integral body;

Single support phase in the walking process, period of double support, shaking peroid pairing gait time parameter information to obtain be that the Time Calculation that both feet contact with varying mesa during by human locomotion obtains leg speed information, calculate step pitch, stride parameter information by the contact position that obtains both feet and varying mesa, and the mechanics parameter information of each different gait cycles is obtained by the three-dimensional force information that each table top provides itself, and computational methods are as follows:

Table top center with first six power platforms (5) is a zero (0,0,0), first six power platforms (5), second six power platforms (6), the 3rd six power platforms (7), the 4th six power platforms (8) each other spacing be fixed value S _Y, platform is installed along Y direction, and each platform all has coordinate system, is respectively (X ₁, Y ₁, Z ₁) (X ₂, Y ₂, Z ₂) (X ₃, Y ₃, Z ₃) (X ₄, Y ₄, Z ₄), Z1=Z2=Z3=Z4=S wherein _ZAmong the human walking procedure, the biped contact position on each platform respectively is defined as (x1, y1, S _Z) (x2, y2, S _Z) (x3, y3, S _Z) (x4, y4, S _Z), thereby obtain

Step pitch=| (x2-x1)+(x3-x2)+(x4-x3) |/3

Stride=| (y2+S _Y-y1)+(y3+S _Y-y2)+(y4+S _Y-y3) |/3

Leg speed=stride/t

The t interval that to be biped contact respectively with four table tops wherein.

Single platform biped contact position Coordinate Calculation, referring to single platform coordinate system and coordinate position, wherein when stress point was A, its position calculation formula in coordinate system was:

$\left\{\begin{array}{c}x=\frac{{-M}_y+F_x\·z}{F_z}\\ y=\frac{M_x+F_y\·z}{F_z}\end{array}\right.$

Described COP track computational methods are that inertia force, gravity and the frictional force application point variation track of power on platform according to each joint of health among the human walking procedure obtains, and concrete implication ZMP definition is consistent, and the Practical Calculation method is as follows;

For kinematic chain, the ZMP condition can be described as formula:

$\underset{i}{\mathrm{\Σ}}(r_i\×m_i{a}_i+I_i{\mathrm{\α}}_i+{\mathrm{\ω}}_i\×I_i{\mathrm{\ω}}_i)-\underset{i}{\mathrm{\Σ}}{r}_i\×m_{i}g={(\mathrm{0,0},*)}^T---\left(1\right)$

Wherein: r _i=p _i-p _Zmp, p _i=(x, y, 0) is the contact point on whole kinematic chain and ground, P _Zmp=(x _Zmp, y _Zmp, 0) ^T

m _iAnd I _iBe respectively the quality and the rotary inertia of i kinematic chain;

ω _iAnd α _iBe respectively the angular velocity and the angular acceleration of i kinematic chain;

G is an acceleration of gravity.

* represent some values, (0,0, *) ^TA kind of form of expression vector.

For kinematic chain, at period of double support, left and right sides foot and ground all have point of contact, and by this point, there is synthetic counteracting force (f on ground in the face of kinematic chain _LOr f _R) and the moment of reaction (n _LOr n _R), in fact the moment of reaction here is exactly the measured M of sextuple power/torque sensor _z(thereby 1) formula can be converted into:

$-\underset{i}{\mathrm{\Σ}}(r_i\×m_i(a_i-g)+I_i{\mathrm{\α}}_i+{\mathrm{\ω}}_i\×I_i{\mathrm{\ω}}_i)+r_L\×f_L+r_R\×f_R+n_L+n_R=0---\left(2\right)$

Wherein: r _L/R=p _L/R-P _Zmp=(*, *, 0) ^T, p _L/RThe contact point on foot and ground about being respectively;

n _L/R＝(0，0，*) ^T

So:

r _L×f _L+r _R×f _R+n _L+n _R＝(0，0，*) ^T (3)

The ZMP point calculates relevant with robot state of living in, and as follows in the computing formula of single support phase and period of double support correspondence: single foot support phase, under single foot holding state, (3) formula is reduced to:

r×f+n＝(0，0，*) ^T (4)

Wherein: r=(x-x _Zmp, y-y _Zmp, 0), f=(f _x, f _y, f _z), n=(0,0, *) ^T

Have:

$r\×f=\left|\begin{array}{ccc}i& j& k\\ x-x_{\mathrm{zmp}}& y-y_{\mathrm{zmp}}& 0\\ f_x& f_y& f_z\end{array}\right|=(y-y_{\mathrm{zmp}})f_{z}i-(x-x_{\mathrm{zmp}})f_{z}j+[(x-x_{\mathrm{zmp}})f_y-(y-y_{\mathrm{zmp}})f_x]k$

Can have by formula (4):

$\left\{\begin{array}{c}(y-y_{\mathrm{zmp}})f_z=0\\ (x-x_{\mathrm{zmp}})f_z=0\end{array}\right.\⇒\left\{\begin{array}{c}{x}_{\mathrm{zmp}}=x\\ y_{\mathrm{zmp}}=y\end{array}\right.---\left(5\right)$

So, supporting the phase at single foot, actual ZMP point is exactly the contact point on single foot and ground.Double support phase, the computing formula of ZMP is as follows:

Under double-legged holding state, left sufficient f _L=(f _Lx, f _Ly, f _Lz), in like manner, f _R=(f _Rx, f _Ry, f _Rz), in (3) formula, have:

$r_L\×f_L=\left|\begin{array}{ccc}i& j& k\\ x_L-x_{\mathrm{zmp}}& y_L-y_{\mathrm{zmp}}& 0\\ f_{\mathrm{Lx}}& f_{\mathrm{Ly}}& f_{\mathrm{Lz}}\end{array}\right|$

＝(y _L-y _zmp)f _Lzi-(x _L-x _zmp)f _Lzj+[(x _L-x _zmp)f _Ly-(y _L-y _zmp)f _Lx]k

In like manner:

$\⇒\left\{\begin{array}{c}(y_L-y_{\mathrm{zmp}})f_{\mathrm{Lz}}+(y_R-y_{\mathrm{zmp}})f_{\mathrm{Rz}}=0\\ (x_L-x_{\mathrm{zmp}})f_{\mathrm{Lz}}+(x_R-x_{\mathrm{zmp}})f_{\mathrm{Rz}}=0\end{array}\right.$

$\⇒\left\{\begin{array}{c}{x}_{\mathrm{zmp}}=\frac{x_L{f}_{\mathrm{Lz}}+x_R{f}_{\mathrm{Rz}}}{f_{\mathrm{Lz}}+f_{\mathrm{Rz}}}\\ y_{\mathrm{zmp}}=\frac{y_L{f}_{\mathrm{Lz}}+y_R{f}_{\mathrm{Rz}}}{f_{\mathrm{Lz}}+f_{\mathrm{Rz}}}\end{array}\right..$

Adopt the network sensing technology that each six power platforms are bound up, form a walking track, in the process that the people walks in the above, can obtain in foot's walking process contact force on each support phase and ground, and by calculating gait information such as stride, step pitch, leg speed, the variation track of point COP in Center of Pressure among the human walking procedure be can realize simultaneously, thereby test, analysis realized situations such as balanced ability of human body, the coordination ability and rehabilitations.

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