CN215189636U - Power-assisted mechanism and power-assisted shoe - Google Patents
Power-assisted mechanism and power-assisted shoe Download PDFInfo
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- CN215189636U CN215189636U CN202120674081.9U CN202120674081U CN215189636U CN 215189636 U CN215189636 U CN 215189636U CN 202120674081 U CN202120674081 U CN 202120674081U CN 215189636 U CN215189636 U CN 215189636U
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Abstract
The utility model discloses a assist drive and helping hand shoes, this assist drive includes: the front sole pneumatic muscle is positioned at the front sole part; the pneumatic muscle of the heel is positioned at the heel part; stopping the inflation inlet; two three solenoid valves, its B mouth with preceding sole pneumatic muscle links to each other, A mouth with the pneumatic muscle of back heel links to each other, P mouth with contrary inflation inlet links to each other, and the configuration is: in the pre-inflation state, the port P is communicated with the port A, and the port B is not communicated with the port A; in the heel landing state, the port P is not communicated with the port A, and the port B is communicated with the port A; in the state that the tiptoes land, the port P is not communicated with the port A, and the port B is not communicated with the port A; in the heel-off state, the port P is not communicated with the port A, and the port B is communicated with the port A; in the toe-off state, the port P is not communicated with the port A, and the port B is not communicated with the port A. This helping hand shoes includes: a sole; the power-assisted mechanism is arranged in the sole and is the power-assisted mechanism.
Description
Technical Field
The utility model relates to an ectoskeleton helping hand technical field especially relates to a assist drive device and helping hand shoes.
Background
Wearable robots appear as typical robots in the field of human-computer interaction, and generally refer to a design that can be worn and implemented by people according to the body structure and limb functions of people. The wearable robot can combine the wisdom, the nimble operational capability of people with endurance, the load capacity of robot device etc.. The wearable walking assisting exoskeleton can relieve unnecessary body burden for a wearer to walk so as to achieve a certain burden reduction or rehabilitation effect.
The existing walking assisting exoskeleton mainly acts on ankle joints of a human body and is divided into an active ankle joint exoskeleton and a passive ankle joint exoskeleton. The passive ankle exoskeleton is characterized in that energy for a wearer to do negative work in a walking process is stored, and then the energy is fed back to a human body when the wearer needs to do positive work; the active external ankle joint exoskeleton is generally provided with a motor, a hydraulic or pneumatic force output device and the like, and actively provides force required by joints when a wearer walks. However, the active ankle exoskeleton usually needs to bear a power system with larger mass, and actuators such as motors and hydraulic cylinders are usually bound on the calf to be used as fixed supporting points, so that the force of calf muscles of a human body is greatly influenced, and the walking becomes uncomfortable. In comparison, the passive ankle joint exoskeleton utilizes the dynamic characteristics of the human body in the motion process, utilizes the force and energy in the human body gait cycle, and enables the exoskeleton to help the human body to move more naturally and comfortably by a mechanism with simple structure and light weight.
However, the passive ankle exoskeleton is usually difficult to adjust the strain in accordance with the specific gait of the human body, and the energy provided by the passive ankle exoskeleton varies from person to person, so that the load of the joints of the human body is difficult to effectively reduce. Furthermore, a spring is mostly adopted as an energy storage mechanism in a common passive ankle exoskeleton, but unfortunately, when the spring releases energy and the energy release rate of the spring are difficult to control by electronic equipment, and meanwhile, in order to make the effective stroke of the spring longer, the spring energy storage is like an active ankle exoskeleton, one end of the spring needs to be fixed by taking the calf of a human body as a fulcrum, so that the force of calf muscles of the human body is influenced, and the walking process is uncomfortable.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a helping hand mechanism and helping hand shoes are provided to solve exist not enough among the above-mentioned correlation technique.
According to a first aspect of embodiments of the present application, there is provided a power assist mechanism including: the front sole pneumatic muscle is positioned at the front sole part; the pneumatic muscle of the heel is positioned at the heel part; stopping the inflation inlet; two three solenoid valves, its B mouth with preceding sole pneumatic muscle links to each other, A mouth with the pneumatic muscle of back heel links to each other, P mouth with contrary inflation inlet links to each other, and the configuration is: in the pre-inflation state, the port P is communicated with the port A, and the port B is not communicated with the port A; in the heel landing state, the port P is not communicated with the port A, and the port B is communicated with the port A; in the state that the tiptoes land, the port P is not communicated with the port A, and the port B is not communicated with the port A; in the heel-off state, the port P is not communicated with the port A, and the port B is communicated with the port A; in the toe-off state, the port P is not communicated with the port A, and the port B is not communicated with the port A.
Further, the pneumatic muscle of preceding sole is the same with the pneumatic muscle structure of heel, all includes: the air bag structure comprises one or more hollow silica gel sheets, wherein pneumatic pipe joints are arranged on the hollow silica gel sheets, and air enters the hollow silica gel sheets from the pneumatic pipe joints and then the hollow silica gel sheets are bulged to form air bags.
Further, when the hollow silica gel sheet has a plurality of pieces, the hollow silica gel sheet is stacked in sequence and a solid silica gel sheet is arranged between two adjacent pieces.
Furthermore, a through hole penetrates through the hollow silica gel sheets and the solid silica gel sheets, the pneumatic pipe joint is installed at one end of the through hole, the other end of the pneumatic pipe joint is plugged, and the hollow silica gel sheets are all communicated with the through hole.
And further, plugging the other end of the through hole by using a plug.
Furthermore, the device also comprises a plurality of pressure sensors which are used for detecting the acting force and the acting time between each part of the sole of the foot and the ground when the human body walks, thereby judging the state of the sole of the foot.
According to a second aspect of the embodiments of the present invention, there is provided a power assisting shoe, including: a sole; the power-assisted mechanism is arranged in the sole and is the power-assisted mechanism of the first aspect.
Further, a pressure-sensitive insole is paved on the upper surface of the sole, and the pressure sensor is arranged in the pressure-sensitive insole.
Further, the pressure sensors are uniformly distributed on the pressure-sensitive insole.
Furthermore, the inflation opening end of the non-return inflation opening is exposed in the air, and the pipe joint end is arranged in the sole.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, the power assisting mechanism forms the closed pneumatic loop through the two pneumatic muscles of the front sole and the rear heel, the pneumatic loop can be used for pushing one pneumatic muscle according to the gait of the human body, the top of the other pneumatic muscle is inflated through the loop, the negative work done by the ankle joint in the gait cycle process of the human body is recovered through the pneumatic closed loop to serve as a power source, and the dependence of the power assisting mechanism on a power system with high complexity and large mass is reduced. The mode of controlling the flow direction of the closed pneumatic circuit by using the two-position three-way electromagnetic valve realizes the buffering and the power assisting on the ankle joint of the human body in the gait cycle of the human body, and the problem of difficult control of energy storage elements such as a spring and the like is avoided by using pneumatic muscles. Compared with the motor scheme, the pneumatic muscle has the advantages of simple structure, good flexibility, low price, high power/weight ratio, simple and easy installation and the like as a novel pneumatic element, the pneumatic muscle of the pneumatic element is used in the application, the pneumatic muscle of the pneumatic muscle has the advantages of simple and small structure, good flexibility, low price, high power/weight ratio, simple and easy installation and the like, and meanwhile, the design scheme of the sole also greatly reduces the influence on the leg muscle of a wearer. The power-assisted shoe has the advantages that the main structure is arranged in the sole, the design scheme that the calf is used as a fixed fulcrum is abandoned, and the problem that the ankle joint power-assisted machine is limited in free movement of a human body is solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of a power assist mechanism according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic view of an exemplary embodiment of the present invention providing a power-assisted shoe;
fig. 3(a) is a schematic perspective view of a pneumatic muscle provided by an exemplary embodiment of the present invention after deflation and flattening, fig. 3(b) is a schematic perspective view of a pneumatic muscle provided by an exemplary embodiment of the present invention after inflation and expansion, fig. 3(c) is a cross-sectional view of a pneumatic muscle provided by an exemplary embodiment of the present invention after deflation and flattening, and fig. 3(d) is a cross-sectional view of a pneumatic muscle provided by an exemplary embodiment of the present invention after inflation and expansion;
FIG. 4 is a schematic illustration of a pre-inflation state airflow provided by an exemplary embodiment of the present invention;
fig. 5 is a schematic view of a landing state airflow provided by an exemplary embodiment of the present invention;
fig. 6 is a schematic view of the air flow from the ground in an exemplary embodiment of the present invention;
in the figure, an upper 1, a pressure-sensitive insole 2, a front sole pneumatic muscle 3, a non-return inflation inlet 4, a two-position three-way electromagnetic valve 5, a heel pneumatic muscle 6, a sole 7, a controller unit 8, a pressure sensor 9, a hollow silica gel sheet 10, a solid silica gel sheet 11, a pneumatic pipe joint 12, a plug 13, an air bag 14 and a through hole 15 are arranged.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Fig. 1 is a schematic structural diagram of a power assisting mechanism provided in an exemplary embodiment of the present invention, referring to fig. 1, an embodiment of the present invention provides a power assisting mechanism, which may include: the front sole pneumatic muscle 3 is positioned at the front sole part; a rear heel pneumatic muscle 6 located at the rear heel; a non-return inflation inlet 4; two three-way solenoid valve 5, its B mouth with preceding sole pneumatic muscle 3 links to each other, A mouth with back heel pneumatic muscle 6 links to each other, P mouth with contrary inflation inlet 4 links to each other, and the configuration is: in the pre-inflation state, the port P is communicated with the port A, and the port B is not communicated with the port A; in the heel landing state, the port P is not communicated with the port A, and the port B is communicated with the port A; in the state that the tiptoes land, the port P is not communicated with the port A, and the port B is not communicated with the port A; in the heel-off state, the port P is not communicated with the port A, and the port B is communicated with the port A; in the toe-off state, the port P is not communicated with the port A, and the port B is not communicated with the port A.
According to the embodiment, the power assisting mechanism forms the closed pneumatic loop through the two pneumatic muscles of the front sole and the rear heel, the pneumatic loop can be used for pushing one pneumatic muscle according to the gait of the human body, the top of the other pneumatic muscle is inflated through the loop, the negative work done by the ankle joint in the gait cycle process of the human body is recovered through the pneumatic closed loop to serve as a power source, and the dependence of the power assisting mechanism on a power system with high complexity and large mass is reduced. The mode of controlling the flow direction of the closed pneumatic circuit by using the two-position three-way electromagnetic valve realizes the buffering and the power assisting on the ankle joint of the human body in the gait cycle of the human body, and the problem of difficult control of energy storage elements such as a spring and the like is avoided by using pneumatic muscles. Compared with the motor scheme, the pneumatic muscle has the advantages of simple structure, good flexibility, low price, high power/weight ratio, simple and easy installation and the like as a novel pneumatic element, the pneumatic muscle of the pneumatic element is used in the application, the pneumatic muscle of the pneumatic muscle has the advantages of simple and small structure, good flexibility, low price, high power/weight ratio, simple and easy installation and the like, and meanwhile, the design scheme of the sole also greatly reduces the influence on the leg muscle of a wearer.
The embodiment of the utility model provides an in, still include a plurality of pressure sensor 9 for the effort size on each part of sole and ground when detecting the human body and walk, thereby judge the state that the sole was located. The pressure change of all parts of the sole can be detected in the periodic gait process of the human motion process, and the gravity center position of the human body can be calculated by measuring the acting force of the sole and the ground through the pressure sensors 9 uniformly distributed on the sole. For example, when the heel touches the ground, the pressure at the heel is larger, the pressure at the front sole is smaller, and the gravity center of the human body is close to the heel; when the heel touches down to the front sole touches down, the gravity center moves to the front sole; when the front sole is on the ground, the pressure at the front sole is higher, the pressure at the heel is lower, and the gravity center of the human body is close to the front sole. The change of the position of the center of gravity of the human body is obtained by real-time measurement of the plurality of pressure sensors 9.
The embodiment of the utility model provides an in, still include controller unit 8, a plurality of pressure sensor 9 and two three way solenoid valve 5 all link to each other with controller unit 8, and controller unit 8 reads pressure sensor 9's data according to predetermined sampling frequency, calculates human focus position and adds the timestamp, and then obtains the change curve of human focus position along with time to in order to reveal that the human body is being in which gait, last controller unit 8 controls two three way solenoid valve 5 according to the type of gait. The controller unit 8 may be of a model STM32F407ZG, but is not limited thereto.
Referring to fig. 2-6, embodiments of the present invention further provide a pair of power-assisted shoes, which may include: a sole 7; the boosting mechanism is arranged in the sole 7 and is the boosting mechanism.
According to the technical scheme, the embodiment of the utility model provides an this helping hand shoes settle primary structure in the sole, has abandoned the design that uses the calf as fixed fulcrum, has solved ankle joint helping hand machine and has constructed the limited problem of human free motion.
In the embodiment of the utility model provides an in, upper of a shoe 1 and 7 fixed connection of sole, pressure are felt 2 covers in the upper of a shoe, and the tiling is on 7 surfaces on the sole, controller unit 8 and 7 fixed connection of sole.
In the embodiment of the utility model provides an in, pressure shoe-pad 2 has been laid to 7 upper surfaces of sole, pressure sensor 9 has on the pressure shoe-pad 2, preferably, pressure sensor 9 has a plurality ofly, and evenly distributed is in on the pressure shoe-pad 2. The pressure sensor 9 can detect the relative acting force of the human sole and the ground, the sensor array evenly distributed on the pressure sensing insole 2 can meet the requirement of detecting the pressure value of each part of the whole sole in the whole step period of the human body, the gravity center position of the human body is obtained through comprehensive calculation, and data is provided for follow-up control.
In the embodiment of the utility model, the sole 7 is connected with the upper 1. The upper 1 and the sole 7 form the basic form of the wearable shoe, so that a user can wear the wearable shoe conveniently and the power-assisted shoe and the foot of the human body can be fixed relatively.
The embodiment of the utility model provides an in, the effort data that 2 detection of pressure-sensitive shoe-pads obtained are received and are calculated by the control unit 8 and obtain human focus and be in sole where to reflect which stage that the human body is being in the gait cycle, and then control two three solenoid valves.
The embodiment of the utility model provides an in, preceding sole pneumatic muscle 3 and sole 7 fixed connection are located the preceding sole portion of helping hand shoes, and two three way solenoid valve 5 and sole 7 fixed connection are located the sole middle part of helping hand shoes, and the pneumatic muscle 6 of back heel is located the back heel portion of helping hand shoes in sole 7 fixed connection, contrary inflation inlet 4 and sole 7 fixed connection, are located the sole middle part of helping hand shoes, the inflation inlet end of contrary inflation inlet 4 exposes in the air, and the coupling is held in sole 7. The pipe joint of the front sole pneumatic muscle 3 is connected with the B port of the two-position three-way electromagnetic valve 5 by an air pipe, the pipe joint of the rear heel pneumatic muscle 6 is connected with the A port of the two-position three-way electromagnetic valve 5 by an air pipe, and the pipe joint of the non-return inflation port 4 is connected with the P port of the two-position three-way electromagnetic valve by an air pipe.
Referring to fig. 3(a) -3 (d), in the embodiment of the present invention, the front sole pneumatic muscle 3 and the rear heel pneumatic muscle 6 have the same structure, and both include: the air bag type silica gel sheet structure comprises one or more hollow silica gel sheets 10, wherein pneumatic pipe joints 12 are installed on the hollow silica gel sheets 10, and air enters the hollow silica gel sheets 10 from the pneumatic pipe joints 12 to enable the hollow silica gel sheets 10 to be bulged to form air bags 14. Utilize the characteristic that hollow silica gel sheet 10 is easily out of shape, can make hollow intracavity air pressure rise through aerifing, and make the silica gel sheet swell, externally by the supporting role, realize basic pneumatic muscle function according to this, simultaneously, the silica gel sheet can be pour through silica gel and form, the design and the production and processing of the shape of being convenient for.
When the hollow silica gel sheet 10 has a plurality of sheets, the hollow silica gel sheets 10 are sequentially stacked and a solid silica gel sheet 11 is arranged between two adjacent sheets. Three hollow silica gel sheets 10 are shown in the attached drawings 3(a) -3 (d), three hollow silica gel sheets 10 are fixedly bonded with two solid silica gel sheets 11 at intervals, air bags in the three hollow silica gel sheets 10 are connected through holes 15, one ends of openings of the through holes 15 are fixedly connected with a pneumatic pipe joint 12, and the other ends of the openings of the through holes 15 are fixedly connected with a plug 13.
As shown in fig. 3(c) -3 (d), two states of the pneumatic muscle are shown. A relaxed state: the balloon 14 relaxes and contracts. The expansion state is as follows: when high-pressure gas is injected, the air bag 14 is pressed to expand to drive the hollow silica gel sheet 10 to expand, and deformation displacement is formed.
The further scheme is that a through hole penetrates through the hollow silica gel sheets 10 and the solid silica gel sheets 11, the pneumatic pipe joint 12 is installed at one end of the through hole, the other end of the through hole is plugged, and the hollow silica gel sheets 10 are communicated with the through hole. The combined design of the plurality of hollow silica gel sheets 10 can make the pneumatic muscle design of the scheme more combinable, and the single hollow silica gel sheet 10 is used as a single module for processing, producing and testing so as to adapt to wearers with different sole heights or shapes and different weights.
Further, the other end of the through hole is plugged by a plug 13.
How the embodiment of the present invention can realize the boosting function will be further explained with reference to fig. 4 to 6.
When the state of the two-position three-way electromagnetic valve 5 is appointed to be 'on', the port B of the two-position three-way electromagnetic valve 5 is communicated with the port A, and the port P is not communicated with the port A; when the two-position three-way electromagnetic valve 5 is in an off state, the port P of the two-position three-way electromagnetic valve 5 is communicated with the port A, and the port B is not communicated with the port A;
referring to FIG. 4, state one, the pre-inflation state. The two-position three-way electromagnetic valve 5 is in an off state, a P port of the two-position three-way electromagnetic valve 5 is communicated with a port A, a port B is not communicated with the port A, the rear heel pneumatic muscle 6 can be inflated by means of an external high-pressure air source, after the inflation is stopped, the non-return inflation head 4 prevents the high-pressure air from flowing out, and the rear heel pneumatic muscle 6 keeps in an expanded state.
Referring to fig. 5, state two, the grounded state. During the walking process of the human body, a single foot has a landing state, and the state is divided into a heel landing state and a toe landing state according to the time sequence. When the heels touch the ground, the heel pneumatic muscles 6 which keep the expansion state are compressed by force, the internal gas pressure is further increased, the buffering and force storage are realized, the state of the two-position three-way electromagnetic valve 5 is controlled to be changed from off to on according to the acting force of the soles and the ground obtained by the pressure-sensitive insoles 2, high-pressure gas flows through the ports A and B of the two-position three-way electromagnetic valve 5 from the heel pneumatic muscles 6 and flows into the forefoot pneumatic muscles 3, the heel pneumatic muscles 6 are deflated and relaxed, and the forefoot pneumatic muscles 3 are inflated and expanded. When the toe touches the ground, the state of the two-position three-way electromagnetic valve 5 is controlled to be changed from on to off, the pneumatic muscle 3 of the front sole keeps an expansion state and is compressed under stress, and buffering and force storage are realized.
See fig. 6, state three, lift off state. In the walking process of a human body, a single foot has a ground-off state, and the state is divided into a heel-off state and a toe-off state according to the time sequence. When the heel is lifted off the ground, the front sole pneumatic muscle 3 which keeps the expansion state is further stressed and compressed, the internal gas pressure is further increased, the buffering and power storage are realized, the state of the two-position three-way electromagnetic valve 5 is controlled to be changed from off to on according to the acting force of the sole and the ground obtained by the pressure-sensitive insole 2, high-pressure gas flows through the port B and the port A of the two-position three-way electromagnetic valve 5 from the front sole pneumatic muscle 3 and flows into the rear heel pneumatic muscle 6, the front sole pneumatic muscle 3 is deflated and relaxed, and the rear heel pneumatic muscle 6 is inflated and expanded, so that the heel is assisted to be lifted off the ground. When the toes land, the two-position three-way electromagnetic valve 5 is controlled to be turned from on to off, and the pneumatic muscle 6 of the heel keeps an expansion state.
In the actual wearing process, the utility model provides a helping hand shoes will be at above-mentioned state two interconversion between the state and the state liftoff state of touchdown, and this in-process, the air current flows according to control between preceding sole pneumatic muscle 3 and back heel pneumatic muscle 6, forms closed circuit, finally realizes the helping hand.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict. The system, the device and each module thereof provided by the utility model can be regarded as a hardware component, and the module for realizing various programs included in the system, the device and each module thereof can also be regarded as a structure in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A power assist mechanism, characterized by comprising:
the front sole pneumatic muscle is positioned at the front sole part;
the pneumatic muscle of the heel is positioned at the heel part;
stopping the inflation inlet;
two three solenoid valves, its B mouth with preceding sole pneumatic muscle links to each other, A mouth with the pneumatic muscle of back heel links to each other, P mouth with contrary inflation inlet links to each other, and the configuration is:
in the pre-inflation state, the port P is communicated with the port A, and the port B is not communicated with the port A;
in the heel landing state, the port P is not communicated with the port A, and the port B is communicated with the port A;
in the state that the tiptoes land, the port P is not communicated with the port A, and the port B is not communicated with the port A;
in the heel-off state, the port P is not communicated with the port A, and the port B is communicated with the port A;
in the toe-off state, the port P is not communicated with the port A, and the port B is not communicated with the port A.
2. The power assisting mechanism according to claim 1, wherein the pneumatic muscles of the forefoot and the heel are the same in structure and each comprise: the air bag structure comprises one or more hollow silica gel sheets, wherein pneumatic pipe joints are arranged on the hollow silica gel sheets, and air enters the hollow silica gel sheets from the pneumatic pipe joints and then the hollow silica gel sheets are bulged to form air bags.
3. The boosting mechanism according to claim 2, wherein when the hollow silica gel sheets have a plurality of pieces, the hollow silica gel sheets are stacked in sequence and a solid silica gel sheet is arranged between two adjacent hollow silica gel sheets.
4. The boosting mechanism according to claim 3, wherein a through hole penetrates through the plurality of hollow silica gel sheets and the solid silica gel sheet, the pneumatic pipe joint is installed at one end of the through hole, the other end of the pneumatic pipe joint is blocked, and the plurality of hollow silica gel sheets are communicated with the through hole.
5. The boosting mechanism according to claim 4, wherein a plug is used to plug the other end of the through hole.
6. The power assist mechanism according to claim 1, further comprising a plurality of pressure sensors for detecting the magnitude and duration of the force acting between each part of the sole of the foot and the ground when the human body walks, thereby determining the state of the sole of the foot.
7. A power-assisted shoe, comprising:
a sole;
the boosting mechanism is arranged in the sole and is the boosting mechanism in any one of claims 1-5.
8. The power-assisted shoe of claim 7, further comprising a plurality of pressure sensors for detecting the magnitude and duration of the force applied to the ground by each portion of the sole of the foot when the person walks, thereby determining the state of the sole of the foot;
a pressure-sensitive insole is laid on the upper surface of the sole, and the pressure sensor is arranged in the pressure-sensitive insole.
9. The power-assisted shoe of claim 8 wherein the plurality of pressure sensors are evenly distributed on the pressure-sensitive insole.
10. A pair of booster shoes as claimed in claim 7, wherein the inflation port end of the non-return inflation port is exposed to the air, and the pipe joint end is disposed in the sole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120674081.9U CN215189636U (en) | 2021-04-01 | 2021-04-01 | Power-assisted mechanism and power-assisted shoe |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120674081.9U CN215189636U (en) | 2021-04-01 | 2021-04-01 | Power-assisted mechanism and power-assisted shoe |
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| CN215189636U true CN215189636U (en) | 2021-12-17 |
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| CN202120674081.9U Active CN215189636U (en) | 2021-04-01 | 2021-04-01 | Power-assisted mechanism and power-assisted shoe |
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