CN201233287Y - Force measuring shoes for moment zero point measurement for human body - Google Patents

Abstract

The utility model provides force measuring shoes used for measuring human points of zero moment, relates to the technical field of robots and sensors, in particular to force measuring shoes used for measuring human points of zero moment and the technical field in which the parameters of positive pressure distributed in the sole, friction force, and the like can be measured in the walking process of human. The utility model comprises two shoe bodies, a lower end of each is provided with a plurality of shoe tack type sensors and is characterized in that the shoe tack type sensor comprises an elastic body, a circuit board and a bottom plate; the elastic body is connected with the bottom plate which is connected with the shoe bodies; the circuit board is arranged in the elastic body. The utility model provides force measuring shoes used for measuring human points of zero moment with the advantages of simple structure, good detection effect and wide application range and can meet walking requirements in different road conditions without influencing normal walking of humans.

Description

A kind of force-measuring shoes that is used for measuring human body zero moment point

Technical field

The utility model relates to the technical field of robot and sensor; Relate in particular to the force-measuring shoes that is used for measuring human body zero moment point, can record vola distribution normal pressure, the isoparametric technical field of friction force among the human walking procedure.

Background technology

Point of zero moment (Zero Moment Point, abbreviation ZMP) notion is proposed by the Yugoslavic M. 5 Bradley Tuo Weiqi of section the earliest, the development of passing through decades has become the important criterion of robot stabilized walking now, is the important tool of robot gait planning.The research true man ZMP track of walking can provide reference data for the design of biped robot's stabilized walking, can also provide the important theory foundation for the research of human body walking mechanism and correlation model in addition.

The mode that directly detects ZMP at present mainly contains: six (many) dimension power/torque sensors and force plate/platform.Sextuple power/torque sensor can obtain the sextuple counter-force information on ground, and the most successful application example is the ASIMO of Japanese honda company, but it is too heavy, detects the ZMP of true man's walking with it, will influence the normal walking of human body greatly.And sextuple sensor generally exists between dimension and is coupled, and needs by complicated method decoupling zero.Force plate/platform places on the ground, can not influence human body and normally walk, but owing to size, generally can only record the data of human body walking one-period, and can not be used to detect the data of human locomotion under the different road conditions.Though at present the detection method of ZMP is varied, all come with some shortcomings, as exist coupling between dimension, too heavy, influence human body and normally walks, can not adapt to the walking requirement that reaches for a long time under the different road conditions etc.

Summary of the invention

The utility model provides a kind of simple in structure, detection is effective, usable range is wide force-measuring shoes that is used for measuring human body zero moment point, can be in the walking requirement of satisfying under different road conditions, and do not influence human body and normally walk.

The utility model adopts following technical scheme for achieving the above object:

The utility model comprises two footwear bodies, the lower end of each footwear body is provided with several shoe tack formula sensors, it is characterized in that described shoe tack formula sensor comprises elastic body, circuit board, base plate, and elastic body is connected with base plate, base plate is connected with the footwear body, and circuit board is arranged in the elastic body.

Reasonable is that the shoe tack formula sensor that the utility model utilization distribution is arranged records the distribution normal pressure of sole among the human walking procedure, again by calculating point of zero moment.

Reasonablely be, circuit board of the present utility model comprises half-bridge both arms Wheatstone bridge and amplification filtering circuit, is symmetrical arranged four resistance strain gages on the elastomeric crossbeam respectively, and four resistance strain gages are interconnected to half-bridge both arms Wheatstone bridge.

Reasonable is that the periphery of elastomeric force column of the present utility model is provided with rubber sleeve.

The utility model is by measuring the distribution normal pressure of sole, again by calculating point of zero moment.The utility model is made of 2 footwear bodies and 22 shoe tack formula sensors for this reason, and the footwear body is interchangeable shoe tack formula motion leather shoes specially made for high jumping or long jumping, and each shoe bottom is installed 11 shoe tack formula sensors respectively.Shoe tack formula sensor is made of elastic body, circuit board, base plate and rubber sleeve.Elastic body and ground directly act on, and obtain ground reaction force information.Wrapped rubber sleeve on the elastic body force column, in order to impact and the increase friction force that absorbs ground.Base plate is connected with elastic body by screw, and is connected on the footwear body by a sunk screw, and the direction of regulating base plate can change the horizontal dynamometry direction of sensor.Circuit board is embedded in the shoe tack formula sensor, is foil gauge group bridge and amplifying circuit, adopts AD620 as amplifying chip.Adopt 4 sheet resistance foil gauge R1, R2, R3, R4, be arranged symmetrically in the elastic body both sides, R1 and R2, R3 and R4 left-right symmetric, R1 and R3, R2 and R4 be symmetry up and down.Adopt half-bridge both arms metering circuit, when R1 and R2, R3 and R4 constitute a brachium pontis respectively, can measure the normal pressure F that acts on the elastic body _NiWhen R1 and R3, R2 and R4 constitute a brachium pontis respectively, can measure the friction force F parallel that acts on the elastic body with the elastic body crossbeam _FxiThe distribution normal pressure F that records based on each shoe tack formula sensor _Ni, can obtain the overall ZMP among the human walking procedure as calculated.

The utility model adopts technique scheme, compared with prior art has following advantage:

1, not only can obtain point of zero moment among the human walking procedure, and can record the distribution normal pressure and the friction force of sole among the human walking procedure.

2, adopt professional motion leather shoes specially made for high jumping or long jumping as the footwear body, human body is comfortable and easy to wear, and entire measuring device is light and handy, and is little to the human body influence of normally walking.

3, measuring shoe tack formula sensor is linear, does not exist between dimension in theory to be coupled, and does not need to carry out decoupling zero.

Description of drawings

Fig. 1 is a kind of structural representation of the present utility model.

Fig. 2 is the utility model shoe tack formula sensor installation site figure.

Fig. 3 is the utility model shoe tack formula sensor wiring layout front view.

Fig. 4 is the utility model shoe tack formula sensor wiring layout vertical view.

Fig. 5 is the stressed and foil gauge layout synoptic diagram of the utility model elastic body.

Fig. 6 is the utility model resistance strain gage group bridge synoptic diagram.

Fig. 7 is the utility model circuit board schematic diagram.

Fig. 8 is the stressed equivalent analysis figure of the utility model elastic body.

Among the figure 1, the footwear body; 2, shoe tack formula sensor, 21, elastic body; 22, circuit board; 23, base plate; 3, rubber sleeve; 221, resistance strain gage.

Embodiment

Below in conjunction with accompanying drawing the technical solution of the utility model is elaborated:

As shown in Figure 1, the utility model comprises two footwear bodies 1, the lower end of each footwear body 1 is provided with several shoe tack formula sensors 2, it is characterized in that described shoe tack formula sensor 2 comprises elastic body 21, circuit board 22, base plate 23, elastic body 21 is connected with base plate 23, base plate 23 is connected with footwear body 1, and circuit board 22 is arranged in the elastic body 31.

The utility model utilization is arranged in the distribution normal pressure that shoe tack formula sensor 2 on the footwear body 1 records sole among the human walking procedure, again by calculating point of zero moment.

Reasonablely be, circuit board 22 of the present utility model comprises half-bridge both arms Wheatstone bridge and amplification filtering circuit, be symmetrical arranged 221, four resistance strain gages 221 of four resistance strain gages on the crossbeam of elastic body 21 respectively and be interconnected to half-bridge both arms Wheatstone bridge.

Reasonable is that the periphery of the force column of elastic body 21 of the present utility model is provided with rubber sleeve 3.

As shown in Figure 2, be shoe tack formula sensor installation site figure.This installation site is the screwhole position of footwear body 1 bottom, and 7 shoe tack formula sensors 2 have been installed in the sole front portion, and 4 shoe tack formula sensors 2, the support situation when such position arrangement has been considered human body walking have been installed by the heel place.Wherein sensor S19 only just contacts with ground heeloff the time with S22.

As shown in Figure 3, be shoe tack formula sensor wiring layout front view.As shown in Figure 4, be shoe tack formula sensor wiring layout vertical view.The material that elastic body 21 adopts is the 17-4PH stainless steel, and structure is the beam with both ends built-in type, directly acts on by rubber sleeve 3 and ground, obtains ground reaction force information.Be surrounded by rubber sleeve 3 on elastic body middle part and the force column that ground contacts, can absorb the impact on ground, increased friction force simultaneously, play anti-skidding effect.Base plate 23 is connected with elastic body 21 by 4 screws, and is connected on the footwear body 1 by a sunk screw, and the direction of regulating base plate 23 can change the horizontal dynamometry direction of sensor.Symmetric arrangement four sheet resistance foil gauge R1, R2, R3 and R4 on the crossbeam of elastic body 31.Circuit board 22 is embedded in the shoe tack formula sensor 2, comprises foil gauge group bridge and amplifying circuit, adopts AD620 as amplifying chip.

Be illustrated in figure 5 as elastic body 21 stressed and resistance strain gage 221 layout synoptic diagram.Adopt 4 resistance strain gage R1, R2, R3, R4 that model is BHF120-1AA, be arranged symmetrically in elastic body 21 crossbeam both sides, R1 and R2, R3 and R4 left-right symmetric, R1 and R3, R2 and R4 be symmetry up and down.Be subjected to normal pressure F on the force column of elastic body 21 _NiWith friction force F _FiEffect.

As shown in Figure 6, be resistance strain gage group bridge 221 synoptic diagram.As shown in Figure 7, be the circuit board schematic diagram.Adopt half-bridge both arms Wheatstone bridge metering circuit,, form different electric bridges according to different dynamometry requirements.Measure sole distribution normal pressure F as desire _NiWhen reaching ZMP, Ra, Rb, the corresponding resistance strain gage R1 of Rc, Rd difference, R2, R3, R4 among Fig. 5, promptly R1 and R2, R3 and R4 constitute a brachium pontis respectively; If will measure sole distribution friction force F _FiThe time, Ra among Fig. 5 ~ Rd is corresponding resistance strain gage R1, R3, R2, R4 respectively, and promptly R1 and R3, R2 and R4 constitute a brachium pontis respectively, and adjust the direction of base plate 23, guarantee that the crossbeam of elastic body 21 is parallel with direction of travel.

As shown in Figure 8, be elastic body 21 stressed equivalent analysis figure.The power that acts on elastic body 21 force columns has friction force F _FiWith normal pressure F _Ni, can be with the mid point of its equivalence to elastic body 21 crossbeams.The mid point of equivalence rear cross beam is subjected to normal pressure F _Ni, the friction force F parallel with crossbeam _Fxi, with the friction force F of beam vertical _Fyi, moment M _CiAnd torque T _CiEffect.

According to mechanics of materials knowledge, can obtain normal pressure F _NiEffect foil gauge R1, the strain of R2 place down is ε _Ni, can calculate by formula (1), foil gauge R3, the strain of R4 place are-ε _NiWith the parallel friction force F of elastic body 21 crossbeams _FxiUnder the effect, foil gauge R1, the strain of R3 place are ε _Fxi, can calculate by formula (2), foil gauge R2, the strain of R4 place are-ε _Fxi

${\mathrm{\&epsiv;}}_{\mathrm{Ni}}=\frac{{3\mathrm{<figure-callout\; id="1"\; label="F\; Ni\; L"\; filenames="Y200820042263E00091.png,Y200820042263E00121.png"\; state="\{\{state\}\}">F</figure-callout>}}_{\mathrm{Ni}}{L}_{}{}_1}{{\mathrm{bh}}^{2}E}(\frac{1}{4}-\frac{L_2}{L_1})---\left(1\right)$

${\mathrm{\&epsiv;}}_{\mathrm{fxi}}=\frac{F_{\mathrm{fxi}}}{2\mathrm{bhE}}---\left(2\right)$

L wherein ₁Be the length of elastic body 21 crossbeams, L ₂Be the length of foil gauge centre distance elastic body 21 crossbeam roots, b is the width of elastic body 21 crossbeams, and h is the thickness of elastic body 21 crossbeams, and E is the elasticity modulus of materials of elastic body 21.L in the utility model ₁=16mm, L ₂=2mm, b=3mm, h=2mm, E=195000MPa.

The variation of the following foil gauge resistance of the independent effect of each power is as shown in table 1, and the total change in resistance of foil gauge is the stack of each power effect effect.

The effect variation of foil gauge resistance down separately of each power of table 1

The resistance of resistance strain gage R1 ~ R4 becomes respectively under each power effect:

R1＝R+ΔR _j-ΔR _k+ΔR _m+ΔR _n (3)

R2＝R+ΔR _j+ΔR _k-ΔR _m+ΔR _n (4)

R3＝R-ΔR _j+ΔR _k+ΔR _m+ΔR _n (5)

R4＝R-ΔR _j-ΔR _k-ΔR _m+ΔR _n (6)

Wherein R is the resistance of foil gauge when not stressed, R=120 Ω in the utility model.

Adopt metering circuit shown in Figure 5, the output voltage U of bridge circuit _oFor:

$U_o=\frac{R_a+R_b}{R_a+R_b+R_c+R_d}{U}_i-\frac{240\mathrm{\&Omega;}}{240\mathrm{\&Omega;}+240\mathrm{\&Omega;}}{U}_i---\left(7\right)$

U wherein _iBe the input voltage of bridge circuit, U in the utility model _i=5V.

When measuring sole distribution normal pressure F _NiWhen reaching ZMP, can get by formula (3)～(7) and R=120 Ω:

$U_o=\frac{{\mathrm{\&Delta;R}}_j}{2(R+{\mathrm{\&Delta;R}}_n)}{U}_i\&ap;\frac{{\mathrm{\&Delta;R}}_j}{2R}{U}_i=\frac{{\mathrm{KU}}_i}{2}\&CenterDot;{\mathrm{\&epsiv;}}_{\mathrm{Ni}}---\left(8\right)$

The approximate Δ R that is based in formula (8) and the formula (9) _nThis fact of＜＜R, wherein K is the sensitivity coefficient of foil gauge.K=2.08 in the utility model.

When measuring sole distribution friction force F _FiThe time, can get by formula (3)～(7) and R=120 Ω:

$U_o=\frac{{\mathrm{\&Delta;R}}_m}{2(R+{\mathrm{\&Delta;R}}_n)}{U}_i\&ap;\frac{{\mathrm{\&Delta;R}}_m}{2R}{U}_i=\frac{{\mathrm{KU}}_i}{2}\&CenterDot;{\mathrm{\&epsiv;}}_{\mathrm{fxi}}---\left(9\right)$

Can obtain the bridge circuit output voltage U by formula (1) and formula (8) _oWith sole distribution normal pressure F _NiBetween the pass be:

$U_o=\frac{{2\mathrm{KL}}_1(1/4-{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="Y200820042263E00091.png,Y200820042263E00092.png"\; state="\{\{state\}\}">L</figure-callout>}}_2/L_1)U_i}{{2\mathrm{bh}}^{2}E}\&CenterDot;F_{\mathrm{Ni}}=A_1\&CenterDot;F_{\mathrm{Ni}}---\left(10\right)$

Can obtain the bridge circuit output voltage U by formula (2) and formula (9) _oWith sole distribution normal pressure F _NiBetween the pass be:

$U_o=\frac{{\mathrm{KU}}_i}{4\mathrm{bhE}}\&CenterDot;F_{\mathrm{fxi}}=A_2\&CenterDot;F_{\mathrm{fxi}}---\left(11\right)$

According to data with existing, can calculate A ₁=13.33 * 10 ^-6, A ₂=2.22 * 10 ^-6, i.e. bridge circuit output voltage U _oLinear with the power that will measure, normal pressure F _NiOr friction force F _Fxi, this understands that in theory shoe tack formula sensor 2 of the present utility model has input and output and is linear superperformance.When practical application, A ₁And A ₂Value can obtain by calibration experiment, promptly on elastic body 21, apply normal pressure (or side force parallel) with crossbeam, record corresponding output voltage, draw calibration curve again, its slope is corresponding A ₁(or A ₂).

The distribution normal pressure F that records based on each shoe tack formula sensor _Ni, can obtain single pin ZMP:O of left and right sides pin according to formula (12) and formula (13) _L, O _R, calculate actual overall ZMP (O point) by formula (14)～(16) again.Because it is 0 that single pin supports unsettled pin sole of phase stressed, even left foot list pin supports, then F _NRSum=0.Can get by formula (5) $\stackrel{\mathrm{uuuv}}{O_{L}O}=0,$ Be overall ZMP (O point) and left foot list pin ZMP (O _LPoint) overlaps.Equally, if right crus of diaphragm list pin supports, then overall ZMP (O point) and right crus of diaphragm list pin ZMP (O _RPoint) overlaps.This method helps the unified computing of program, and need not distinguish single pin and support phase and double support phase.

$\underset{i=1}{\overset{11}{\mathrm{\&Sigma;}}}{F}_{N_{2i-1}}\stackrel{\mathrm{uuuuuuuv}}{P_{2i-1}{O}_L}=0---\left(12\right)$

$F_{\mathrm{NLSum}}=\underset{i=1}{\overset{11}{\mathrm{\&Sigma;}}}{F}_{N_{2i-1}}---\left(14\right)$

$F_{\mathrm{NRSum}}=\underset{i=1}{\overset{11}{\mathrm{\&Sigma;}}}{F}_{N_{2i-1}}---\left(15\right)$

$F_{\mathrm{NRSum}}=\underset{i=1}{\overset{11}{\mathrm{\&Sigma;}}}{F}_{N_{2i}}---\left(16\right)$

$F_{\mathrm{NLSum}}\stackrel{\mathrm{uuuuv}}{O_{L}O}+F_{\mathrm{NRSum}}\stackrel{\mathrm{uuuuuv}}{O_{R}O}=0---\left(16\right)$

Wherein P is the position of respective sensor under global coordinate system, and 0 is ZMP point to be asked.F _NLSumAnd F _NRSumBe respectively the ground general pressure of left foot and right crus of diaphragm.

Claims (4)

1, a kind of force-measuring shoes that is used for measuring human body zero moment point, comprise two footwear bodies (1), the lower end of each footwear body (1) is provided with several shoe tack formula sensors (2), it is characterized in that described shoe tack formula sensor (2) comprises elastic body (21), circuit board (22), base plate (23), elastic body (21) is connected with base plate (23), base plate (23) is connected with footwear body (1), and circuit board (22) is arranged in the elastic body (21).

2, the force-measuring shoes that is used for measuring human body zero moment point according to claim 1, it is characterized in that foregoing circuit plate (22) comprises half-bridge both arms Wheatstone bridge and amplification filtering circuit, be symmetrical arranged four resistance strain gages (221) on the crossbeam of elastic body (21) respectively, four resistance strain gages (221) are interconnected to half-bridge both arms Wheatstone bridge.

3, the force-measuring shoes that is used for measuring human body zero moment point according to claim 1 is characterized in that the structure that above-mentioned elastic body (21) adopts is the beam with both ends built-in formula.

4, the force-measuring shoes that is used for measuring human body zero moment point according to claim 1 is characterized in that the periphery of the force column of above-mentioned elastic body (21) is provided with rubber sleeve (3).

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