KR102095439B1 - Ground Reaction Force Sensor Module, Shoe having the same, Measuring System of Ground reaction Force of Sole and Measuring Method of Ground reaction Force of Sole - Google Patents

Abstract

The present invention relates to a ground reaction force sensor module, a shoe equipped with a ground reaction force sensor module, a ground reaction force measuring system and a ground reaction force measuring method, and more specifically, accurately measures the size and distribution of ground reaction force acting on the plantar surface of the wearer. The present invention relates to a ground reaction force sensor module, a shoe equipped with a ground reaction force sensor module, and a ground reaction force measurement system that can be manufactured in various forms while being durable and flexible.

Description

Ground Reaction Force Sensor Module, Shoes with Ground Reaction Sensor Module, Ground Reaction Force Sensor Module, Shoe having the same, Measuring System of Ground reaction Force of Sole and Measuring Method of Ground reaction Force of Sole}

The present invention relates to a ground reaction force sensor module, a shoe equipped with a ground reaction force sensor module, a ground reaction force measuring system and a ground reaction force measuring method, and more specifically, accurately measures the size and distribution of ground reaction force acting on the plantar surface of the wearer. The present invention relates to a ground reaction force sensor module, a shoe equipped with a ground reaction force sensor module, and a ground reaction force measurement system that can be manufactured in various forms while being durable and flexible.

In general, while a person walks, the ground reaction force acts on the ground through the plantar surface, and the ground reaction force changes according to the walking cycle. Figure 1 shows the movement of the lower body in the pedestrian walking cycle.

When the gait cycle is analyzed based on the right foot of the pedestrian with reference to FIG. 1, it can be divided into two phases as follows.

 When the rear end of the plantar surface of the first right foot (heel) is grounded and the left foot moves forward and the tip of the plantar surface of the right foot separates from the ground, it is called as the stance phase. After the right foot floats in the air and moves forward, it can be divided into a swing phase until the rear end of the plantar surface touches the ground again.

The erection of the right foot shown in FIG. 1 is the initial stance (loading response) stage shown in FIG. 1 (a) where the rear end of the plantar surface of the right foot of the pedestrian comes into contact with the ground, FIG. 1 in which the entire plantar surface of the pedestrian comes into contact with the ground The mid-stance step shown in (b) is performed.

At this time, in the middle stance phase (mid-stance), when the left foot, in which the swing phase progresses, swings forward, and the terminal stance phase shown in FIG. 1 (c) is performed, pedestrians may walk forward. You can.

Thereafter, the pre-swing stage shown in FIG. 1 (d) in which the front end of the plantar surface of the right foot starts to be spaced apart while the rear end of the left foot in which the swing phase is in progress starts to support the load by contacting the ground. Can be performed.

As described above, when the foot is in the stance phase based on either foot of both feet, the ground reaction force acts from the ground toward the plantar surface. The magnitude of the ground reaction force is continuously changed during the standing period, and in particular, the distribution and / or size of the ground reaction force is changed according to the area of the plantar surface rather than acting constantly on the entire area of the plantar surface.

Information on the magnitude and distribution of the ground reaction force can be used in various fields such as human gait step recognition, motion intention identification, and human dynamics calculation. In particular, lower body assisting robots, which guide or assist walking by providing assistive power to the lower body of a paralyzed patient, a rehabilitation patient, or an elderly person, have recently been developed, and these lower body assisting robots have a pedestrian's thigh (or hip joint) and lower thigh ( Or a knee joint). When providing the assisting force in this way, when the wearer knows the distribution and / or size of the ground reaction force acting through the plantar surface during walking, it is possible to provide the correct assisting force to each joint of the wearer.

Recently, research and development to obtain and analyze wearer's body information using various wearable equipment has been actively conducted, and various equipment for measuring plantar pressure on the plantar surface has been developed. Figure 2 shows an example of a sensor device according to the prior art for measuring the plantar pressure acting on the plantar surface of the wearer.

Figure 2 (a) shows a conventional film-type sensor 3000A for measuring the plantar pressure acting on the plantar surface of the wearer.

The film type sensor 3000A is manufactured in the form of a thin film part 3100 having a circuit part 3110. The circuit unit 3110 transmits the measured value to the control unit through the signal line 3120.

Since the film type sensor 3000A is small and has a small thickness, it can be easily attached to a shoe, and when worn by a wearer, it can reduce a foreign body feeling, and furthermore, a plantar pressure can be measured by a relatively simple circuit configuration.

On the other hand, Figure 2 (b) shows a conventional plantar pressure measurement sensor 3000B for measuring the plantar pressure acting on the plantar surface of the wearer. The plantar pressure measurement sensor 3000B may be provided in plural at the bottom of the plantar surface. Each gas pressure sensor seals the fluid in a predetermined inner space inside the tubes 3200A and 3200B, and measures the plantar pressure by measuring the pressure of the fluid with the sensors 3220A and 3220B when pressure is applied by the plantar surface. Is done.

However, since the above-described film type sensor is manufactured in the form of a thin film, it is not easy to adjust the sensitivity and the measured value of the plantar pressure measured by the sensor may vary depending on the state of the attachment surface or the load surface. In addition, in the case of long-term use, durability problems such as peeling of the film due to shear stress, and measurement values change, and calibration is necessary.

In addition, the conventional plantar pressure measurement sensor has a limitation in that only the pressure (plantar pressure) information of the pressurized portion is provided, and thus it cannot be utilized immediately as ground reaction force information.

Particularly, in the case of the tube type plantar pressure measurement sensor shown in FIG. 2 (b), when a certain section of the tube is blocked, accurate plantar pressure measurement is impossible and the sensitivity of pressure measurement is low, so there is a limit to precise walking cycle analysis. .

3 shows a conventional system for measuring ground reaction force when the wearer walks.

The system includes a walking plate 3500 that the tester walks from above and a motion camera 3600 that recognizes the movement of the wearer. Accordingly, when the wearer walks on the walking plate 3500, the motion camera 3600 recognizes the movement of the wearer and senses the ground reaction force through the walking plate 3500.

However, since the conventional system shown in FIG. 3 requires fairly expensive equipment such as the walking plate 3500 and the motion camera 3600, it is impossible to measure the ground reaction force regardless of the place and environment, so walking through the ground reaction force There are difficulties in periodic analysis and determining the assistive force of the wearable robot.

An object of the present invention is to solve the problem of providing a ground reaction force sensor module capable of accurately measuring the ground reaction force of the plantar surface regardless of a change in the shape of a load object such as a plantar surface or a change in the contact area.

In addition, the present invention is intended to solve the problem of providing a ground reaction force sensor module that can be manufactured in various forms, while being flexible and durable to solve the above problems.

In addition, the present invention is an object to solve the problem of providing a ground reaction force sensor module that can be manufactured in the form of a shoe or seating, and a shoe having the same, which is excellent in durability when embedded in a shoe or the like worn by a wearer.

In addition, an object of the present invention is to solve the problem of providing a ground reaction force measuring system and a measuring method capable of measuring the ground reaction force of a wearer regardless of a place and environment.

In addition, an object of the present invention is to solve the problem of providing a ground reaction force measurement system capable of measuring ground reaction force when walking in an environment such as a flat surface as well as an uneven slope or staircase.

In order to solve the above problems, the present invention is a housing made of an elastic material having a gas chamber therein and having a closed chamber space; A plurality of support bars vertically spaced from each other inside the chamber space and made of an elastic material; And a gas pressure sensor provided on one side of the housing to measure the pressure in the chamber space, and may provide a ground reaction force sensor module for determining ground reaction force through the pressure measured by the gas pressure sensor. .

In this case, the support bar is made of an incompressible material in which a volume change does not occur depending on the pressure, and the height change of the support bar may cause a pressure change of gas in the chamber space.

And, the distance between the plurality of support bars is determined to be at least twice the size of the maximum radius increase amount of the support bar, and the maximum radius increase amount is applied to the pressure corresponding to twice the maximum plantar pressure that can act by the plantar surface. In may be defined as an increase in the radius of the support bar.

Here, the gas pressure sensor may include a gas pressure sensor cover provided on one side of the chamber space, and a gas pressure sensor embedded in the sensor cover.

In addition, the plurality of support bars are configured in a hexagonal column shape, and opposite sides of adjacent support bars may be arranged in parallel.

In addition, in order to solve the above problems, the present invention is a shoe in which a plurality of the ground reaction force sensor modules described above are distributed; And a control unit for converting the pressure measured by each of the plurality of ground reaction force sensor modules of the shoe wearer into ground reaction force in each area of the ground reaction force sensor module arrangement area. You can.

In this case, the controller determines the ground reaction force by the following equation, where F = k · ΔP where F is the ground reaction force, k is the ground reaction force correction coefficient, and △ P is the change in pressure measured by the ground reaction force sensor module. It can be defined as

Then, the ground reaction force correction coefficient may be calculated and determined by a calculation formula, or the ground reaction force correction coefficient may be experimentally determined by changing a pressure measured by applying a predetermined force to the ground reaction force sensor module.

Here, the control unit determines the ground reaction force correction coefficient by the following equation,

Here, n is the number of the support bars, E is the ratio of the vertical stress (σ) to the height strain (ε) of the support bar, V _{air, 0} is a virtual centering around the support bar made of one elastic material The initial volume of air in the cell unit, A _pillar is the cross-sectional area of the support bar, c is the Boy's constant, and α is a virtual cell centered on the support bar composed of one elastic material for the V _{air, 0} . It can be defined as the ratio of the volume of the unit.

In addition, the controller defines a ground reaction force detected by the ground reaction force sensor module as a sensor correction value when no force is applied to the ground reaction force sensor module by the plantar surface of the wearer. When a force is applied to the ground reaction force sensor module, the ground reaction force of the plantar surface may be calculated by excluding the sensor correction value from the ground reaction force calculated through the ground reaction force sensor module.

In this case, the control unit may measure the ground reaction force distribution of the plantar surface of the wearer by the ground reaction force derived through the ground reaction force sensor module.

In addition, the control unit may measure the weight of the wearer by summing the ground reaction forces derived through the ground reaction force sensor module.

Here, the control unit may detect the walking state of the shoe wearer through a change state of the ground reaction force derived from each of the plurality of ground reaction force sensor modules.

In addition, in order to solve the above problem, the present invention provides a method for measuring ground reaction force using a shoe that is equipped with at least one of the above-described ground reaction force sensor modules and can be worn on a wearer's foot.

Measuring a pressure or a change in pressure using the ground reaction force sensor module; And measuring the magnitude or distribution of the ground reaction force acting on the plantar surface by the measured pressure, and measuring the magnitude or distribution of the ground reaction force acting on the plantar surface comprises measuring the change in the measured pressure. Determining a ground reaction force correction coefficient that converts to the magnitude of the ground reaction force, obtaining a sensor correction value of the ground reaction force sensor module, and deriving the magnitude or distribution of the ground reaction force, characterized in that the ground reaction force measurement comprises Can provide a method.

In this case, in the step of deriving the ground reaction force correction coefficient, the ground reaction force correction coefficient is calculated and determined by a calculation formula, or a predetermined force is applied to the ground reaction force sensor module to change the measured pressure or pressure. The ground reaction force correction coefficient can be determined experimentally.

In the step of deriving the ground reaction force correction coefficient, the ground reaction force correction coefficient is determined by the following equation:

Here, n is the number of the support bars, E is the ratio of the vertical stress (σ) to the height strain (ε) of the support bar, V _{air, 0} is a virtual centering around the support bar made of one elastic material The initial volume of air in the cell unit, A _pillar is the cross-sectional area of the support bar, c is the Boy's constant, and α is a virtual cell centered on the support bar composed of one elastic material for the V _{air, 0} . It can be defined as the ratio of the volume of the unit.

Here, in the step of obtaining a sensor correction value of the ground reaction force sensor module

When a force is not applied to the ground reaction force sensor module by the plantar surface of the wearer, the ground reaction force sensed by the ground reaction force sensor module may be defined as a sensor correction value.

In addition, in the step of deriving the magnitude or distribution of the ground reaction force, the magnitude of the ground reaction force is calculated by the following formula, where F = k · ΔP where F is ground reaction force, k is ground force correction coefficient, and △ P is the ground force. It can be defined as the change in pressure measured by the reaction force sensor module.

In this case, in the step of deriving the magnitude or distribution of the ground reaction force, the ground reaction force of the plantar surface may be calculated by excluding the sensor correction value from the calculated ground reaction force.

Then, in the step of deriving the size or distribution of the ground reaction force, the ground reaction force distribution on the plantar surface of the wearer, the weight of the shoe wearer, or the walking state of the shoe wearer may be determined by the ground reaction force derived through the ground reaction force sensor module. have.

According to the present invention, it is possible to provide a ground reaction force sensor module that is flexible, durable, and can be manufactured in various forms.

Further, according to the present invention, it is possible to accurately measure the ground reaction force of the plantar surface regardless of the shape of the load object such as the plantar surface or the change in the contact area.

Furthermore, according to the present invention, it is excellent in durability when embedded in shoes or the like worn by a wearer, and can be manufactured in the form of shoes to provide convenience.

Figure 1 shows the movement of the lower body of the swing phase in the pedestrian walking cycle.
2 shows a plantar pressure sensor according to the prior art.
Figure 3 shows a ground reaction force measuring device according to the prior art.
Figure 4 shows a perspective view of the ground reaction force sensor module according to the present invention.
5 shows a perspective view of a support bar made of an elastic material.
6 is a view showing a support bar made of an elastic material adjacent to each other.
7 is a perspective view showing an internal configuration of the ground reaction force sensor module.
8 illustrates a side view of a virtual cell unit including a support bar made of one elastic material.
9 shows a graph comparing the magnitude of the ground reaction force and the measured ground reaction force actually applied to the ground reaction force sensor module.
10 is a view showing an experimental state according to various types of loads and housings.
Figure 11 shows a graph comparing the error of the ground reaction force measured by the film-type sensor according to the prior art and the ground reaction force sensor module according to the present invention.
12 is a plan view of a shoe equipped with the ground reaction force sensor module.
13 shows a schematic diagram showing the configuration of a ground reaction force measurement system.
14 shows a graph showing the experimental results for obtaining the ground reaction force correction coefficient.
15 is a graph showing the results of measuring the ground reaction force distribution.
16 is a perspective view showing a lower body assist robot according to an embodiment.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed contents are thorough and complete, and that the spirit of the invention is sufficiently conveyed to those skilled in the art. Throughout the specification, the same reference numbers indicate the same components.

4 shows a ground reaction force sensor module 2000 according to the present invention. 4A is an overall perspective view of the ground reaction force sensor module 2000, and FIG. 4B is a perspective view showing an internal configuration of the ground reaction force sensor module 2000.

Referring to Figure 4, the ground reaction force sensor module 2000 is located at the bottom of the wearer's plantar surface, the housing 2005 to provide a sealed chamber space 2010 therein, and the chamber space (2010) It may be provided with a gas pressure sensor 2100 measuring the pressure in the chamber space 2010 and a plurality of support bars 2030 formed of an elastic material formed vertically inside and spaced apart from each other by a predetermined distance.

The housing 2005 forms the exterior of the ground reaction force sensor module 2000. The housing 2005 is located under the plantar surface of the wearer, and a force acting on the plantar surface acts on the housing 2005.

The housing 2005 may be formed of an elastic body to elastically deform when a force is applied by the plantar surface. For example, the housing 2005 may be formed of an elastic body such as silicone or a thermoplastic resin. The material of the elastic body is described as an example, and when a force is applied, it can be elastically deformed, and when the force is removed, it may be formed of an appropriate material that returns to its original state.

In addition, when the housing 2005 is made of an elastic body such as silicone, when the wearer wears a shoe or the like having the ground reaction force sensor module 2000 built therein, it may provide a soft texture without giving a foreign body a feeling of foreign body. In addition, it is possible to change the shape in various forms, and even when it is possible to deform in various forms, the plantar pressure can be accurately measured.

Meanwhile, the housing 2005 is formed and illustrated in a circular shape in FIG. 4, but is not limited thereto.

In addition, the housing 2005 may be formed in a predetermined size. In this case, the planar size of the housing 2005 may be relatively small compared to the plantar surface of the wearer. This is because it is preferable that the plurality of housings 2005 be located below the plantar surface in order to accurately measure the distribution of the ground reaction force acting on the plantar surface of the wearer. That is, it can be used to determine not only the size of the ground reaction force received by the wearer's body but also the walking state through the size and distribution of the ground reaction force measured through the ground reaction force sensor module 2000.

Therefore, the planar size of the housing 2005 may be smaller than that of the wearer's plantar surface, but its shape and size may be appropriately modified according to the type of use.

Meanwhile, a sealed chamber space 2010 having a predetermined volume may be formed inside the housing 2005. Since the chamber space 2010 is filled with air, the pressure changes according to the volume change of the chamber space 2010, and the change in pressure is measured by the gas pressure sensor 2100.

Inside the chamber space 2010, a support bar 2030 made of a plurality of elastic materials is provided. If the ceiling forming the chamber space 2010 hits the floor when a force is applied by the wearer's plantar surface, it is difficult to accurately measure the force applied by the plantar surface. Accordingly, in order to prevent the ceiling of the chamber space 2010 from contacting the floor when a force is applied by the wearer's plantar surface, a support bar 2030 made of a plurality of elastic materials inside the chamber space 2010 ) Is provided.

5 is a perspective view showing one of the support bars 2030 made of the plurality of elastic materials.

Referring to FIG. 5, the support bar 2030 is vertically formed by a predetermined height h to connect the ceiling and the floor of the chamber space 2010.

The support bar 2030 is shown in the drawing as a hexagonal column having one side (l) of a predetermined length, but is not limited thereto and may be configured in various forms such as a cylindrical or polygonal column. However, in order to maximize the volume of the support bar 2030, in the present embodiment, the support bar 2030 adopts the shape of a hexagonal column.

When the support bar 2030 is formed of a hexagonal column, opposing sides of adjacent support bars among the plurality of support bars 2030 may be configured to be arranged in parallel.

Meanwhile, when a force is applied to the upper portion of the housing 2005 by the plantar surface of the wearer, a force is applied downward from the upper portion of the support bar 2030. At this time, the height of the support bar 2030 (buckling) of the support bar 2030, that is, to prevent the bending of the support bar 2030 when a compression load acts on the support bar 2030 ( The ratio of the cross-sectional area (A _pillar ) of the support bar 2030 to the square of h) can be appropriately determined.

For example, the aspect ratio of the support bar 2030 may be determined to be approximately 0.8 to 1.2. In this case, the cross section (A _pillar ) of the support bar 2030 is increased with respect to the height (h) of the support bar 2030, so that the support bar (even when a compressive load acts on the support bar 2030) 2030) can be prevented from bending.

6 is a view showing a support bar (2030A, 2030B) composed of a pair of elastic materials adjacent to each other.

As shown in FIG. 6, support bars 2030A and 2030B made of a pair of elastic materials are formed spaced apart from each other by a predetermined distance from each other.

When the support bar 2030 is pressed by the wearer's plantar surface, the height h of the support bar 2030 decreases, instead of the cross-sectional area of the support bar 2030 or the cross-sectional area of the support bar 2030. The radius increases.

 At this time, when the distance (d) between the support bars 2030A and 2030B made of a pair of elastic materials adjacent to each other is relatively small compared to the increase in radius of the cross-sectional area of the support bars 2030, the support bars 2030 ) Is pressed, the support bars 2030 made of elastic materials adjacent to each other interfere with each other so that the support bars 2030 made of elastic materials are no longer pressed. In this case, the force acting on the plantar surface of the wearer is not transmitted through a change in pressure through the support bar 2030, making it difficult to accurately measure the ground reaction force.

Therefore, the distance (d) between the support bars 2030A and 2030B made of the pair of elastic materials is the radius of the support bar 2030 when the support bar 2030 is compressed by the plantar surface of the wearer. It can be determined by more than twice the increase.

Specifically, the distance d between the support bars 2030A and 2030B made of the pair of elastic materials may be determined to be more than twice the maximum radius increase amount of the support bars 2030.

Here, the maximum radius increase amount may be defined as a radius increase amount of the support bar 2030 when a pressure corresponding to twice the maximum plantar pressure that can be applied by the wearer's plantar surface is applied. The maximum plantar pressure that can be acted upon by the wearer's plantar surface may be defined as the maximum plantar pressure that can be applied when a person normally travels. This maximum plantar pressure can be determined through experiments and the like and corresponds to a pressure of approximately 350 to 400 kPa.

Meanwhile, referring to FIG. 4 again, an auxiliary space 2012 into which the above-described gas pressure sensor 2100 is inserted may be formed on one side of the chamber space 2010. The auxiliary space 2012 is substantially in communication with the chamber space 2010 so that a change in pressure according to a change in volume of the chamber space 2010 can be transferred to the auxiliary space 2012 as it is.

The gas pressure sensor 2100 may include, for example, a sensor cover 2130 inserted into the auxiliary space 2012 and a gas pressure sensor 2110 surrounded by the sensor cover 2130.

The sensor cover 2130 is inserted into the auxiliary space 2012 to serve to protect the above-described gas pressure sensor 2110. The sensor cover 2130 is shown in a circular shape in the drawing, but may have a shape corresponding to the shape of the inner surface of the auxiliary space 2012.

An insertion hole 2132 is formed in the sensor cover 2130, and the gas pressure sensor 2110 is positioned through the insertion hole 2132.

In this case, the minimum height of the gas pressure sensor 2110 or the sensor cover 2130 may be determined to be 0.4 to 0.6 mm.

The gas pressure sensor 2110 measures a change in pressure due to a change in the internal volume of the chamber space 2010 when a force is applied by the wearer's plantar surface. The measured value measured by the gas pressure sensor 2110 is transmitted to the control units 7000, 8000, and 8500 described later through the transmission / reception line 2150. In this case, a through hole 2006 through which the transmission / reception line 2150 penetrates may be formed on one side of the housing 2005. When the air inside the chamber space 2010 leaks through the through hole 2006, it is difficult to accurately measure the ground reaction force, so the transmission / reception line 2005 is arranged to penetrate the through hole 2006. In this case, a leakage preventing means for preventing air leakage may be provided.

On the other hand, although not shown in the drawing, the measured value measured by the gas pressure sensor 2110 may be wirelessly transmitted to the controllers 7000, 8000, and 8500. In this case, the through hole 2006 formed in the housing 2005 can be omitted, thereby preventing air leakage in the chamber space 2010.

On the other hand, when a force is applied to the housing 2005 by the plantar surface of the wearer, the support bar 2030 made of the above-mentioned elastic material is deformed, thereby reducing the internal volume of the chamber space 2010, and accordingly The change in pressure inside the chamber space 2010 is measured by the gas pressure sensor 2100.

In this case, in order to accurately measure the force exerted by the wearer's plantar surface, that is, the force exerted by the wearer's plantar surface must be converted into a change in the internal volume of the chamber space 2010. However, since the chamber space 2010 is supported by a support bar 2030 made of an elastic material, when the force is applied by the plantar surface of the wearer, the support bar 2030 is pressed and the chamber space 2010 ) Will cause a volume change.

At this time, if the support bar 2030 is formed of a compressible material having a volume change, the force exerted by the plantar surface of the wearer is not all converted into the internal volume change of the chamber space 2010 and the support bar 2030 ). This acts as a factor that cannot accurately measure the force applied by the wearer's plantar surface, that is, the ground reaction force.

Therefore, the support bar 2030 made of the above-described elastic material may be formed of an incompressible material in which volume change does not occur. Here, the term 'incompressible material that does not cause a volume change' may be defined as a property in which an external shape may change when a force is applied from the outside, but the total volume does not change, so that the overall volume does not decrease or increase. .

When the support bar 2030 made of the above-mentioned elastic material is formed of an incompressible material that does not generate a volume change, the height change of the support bar 2030 when the force is applied by the plantar surface of the wearer is the All the volume change of the air inside the chamber space 2010 may be converted. The change in the internal volume of the chamber space 2010 causes a change in pressure, and the change in the pressure is measured by the gas pressure sensor 2100 to accurately measure the ground reaction force.

Particularly, when a force is applied by the plantar surface of the wearer, the height change of the support bar 2030 can be converted into the volume change of the air inside the chamber space 2010, so the force acting by the plantar surface It becomes possible to measure linearly.

Hereinafter, a process of inducing the ground reaction force F acting on the plantar surface of the wearer by a change in pressure (ΔP) measured by the ground reaction force sensor module 2000 will be described.

7 is a perspective view showing the internal configuration of the ground reaction force sensor module 2000. In FIG. 7, it is revealed that the upper ceiling area covering the above-described gas pressure sensor 2100 and the chamber space 2010 is omitted to show the internal configuration of the ground reaction force sensor module 2000.

Referring to FIG. 7, a closed chamber space 2010 is formed inside the housing 2005, and a support bar 2030 made of a plurality of elastic materials is vertically formed inside the chamber space 2010. do. In this case, an area surrounding the support bar 2030 made of any one of the support bars 2030 made of the plurality of elastic materials may be defined as a virtual cell unit 2050. That is, the cell unit 2050 may be defined as a part of the closed chamber space 2010 surrounding the support bar 2030 made of one elastic material, and the chamber space 2010 is the cell unit ( 2050) may be defined as being made up of the number of support bars 2030 made of an elastic material.

8 is a side view showing the volume change of one cell unit 2050 when a force is applied to the ground reaction force sensor module 2000 by the plantar surface of the wearer. 8 (A) shows the cell unit 2050 in a state in which no force is applied to the ground reaction force sensor module 2000 by the plantar surface of the wearer, and FIG. 8 (B) shows the plantar surface of the wearer. The cell unit 2050 in a state in which a force is applied to the ground reaction force sensor module 2000 is illustrated. In this case, since the size of the cell unit 2050 is very small, it can be assumed that a uniform vertical stress (σ) and a vertical strain act, and the rigidity of air filled in the chamber space 2010 is the support bar. It is significantly smaller than the stiffness of (2030), so it can be ignored.

Referring to FIG. 8 (A), the cell unit 2050 in a state in which no force is applied to the ground reaction force sensor module 2000 by the wearer's plantar surface is the height of the support bar 2030 made of an elastic material. (h) and the cross-sectional area (A _cell ) of the cell unit 2050 are maintained.

When the force is applied to the ground reaction force sensor module 2000 by the wearer's plantar surface in the state of FIG. 8 (A), the height of the cell unit 2050 and the support bar 2030 as shown in FIG. 8 (B). A change (Δh) occurs in the height of.

Here, the volume change (ΔV _air ) inside the cell unit 2050 is defined by [Equation 1] below.

[Equation 1]

In [Equation 1], 'V _{cell, 0} ' is the volume of the cell unit 2050 in the initial state, where no force is applied to the ground reaction force sensor module 2000 by the wearer's plantar surface, 'V _pillar ' is It is defined as the volume of the support bar 2030. In this case, since the support bar 2030 is formed of an incompressible material having no volume change as described above, the volume (V _pillar ) of the support bar 2030 is constant.

Accordingly, [Equation 1] is summarized as [Equation 2] as follows.

[Equation 2]

Here, 'h ₀ ' is the initial height of the support bar 2030, and 'h _f ' is the latter of the support bar 2030, which is reduced due to the force applied to the ground reaction force sensor module 2000 by the plantar surface of the wearer. Height, 'ε' is the strain of the height of the support bar 2030 is defined by the following [Equation 3].

[Equation 3]

In addition, 'V _{air, 0} ' is the volume of the initial air inside the cell unit 2050 where no force is applied to the ground reaction force sensor module 2000 by the wearer's plantar surface, and 'α' is the cell unit ( 2050) The volume of the cell unit 2050 in the initial state in which no force is applied to the ground reaction force sensor module 2000 by the wearer's plantar surface relative to the volume of the initial air inside (V _{air, 0} ) (V _{cell, It} is defined as the ratio of ₀ ).

After all, the virtual cell unit 2050 when a force is applied to the ground reaction force sensor module 2000 by the latter volume of the air of the one virtual cell unit 2050 (V _{air, f} ), that is, the plantar surface of the wearer. The air volume of is defined by [Equation 4] below.

[Equation 4]

On the other hand, when Boyle's law is used, a change in air pressure (ΔP) of the entire chamber space 2010 of the housing 2005 may be defined as in Equation 5 below.

[Equation 5]

Here, 'c' corresponds to Boyle's constant.

The [Equation 5] may be defined as the sum of the strain (ε) of the height of each support bar 2030 of the virtual cell unit 2050 as shown in [Equation 6] below.

[Equation 6]

Here, 'n' is the number of cell units 2050 inside the chamber space 2010, which corresponds to the number of support bars 2030.

In the case of [Equation 6], it is difficult to use because the strain (ε) of the height of the support bar 2030 of the virtual cell unit 2050 is unknown.

However, assuming that the compression of the support bar 2030 by the force applied by the plantar surface of the wearer is very fine, a small strain condition can be applied as follows.

[Equation 7]

When the micro-strain conditions are applied to [Equation 6], it can be defined as [Equation 7] below.

[Equation 7]

Here, 'F' corresponds to the force exerted by the plantar surface of the wearer, or ground reaction force, and 'E' is defined as the ratio of the vertical stress (σ) to the height strain (ε) of the support bar 2030 do.

By converting [Equation 7], the ground reaction force F may be defined as [Equation 8] below.

[Equation 8]

Here, 'k' is defined as a ground reaction force correction coefficient, and the ground reaction force correction coefficient (k) is defined as [Equation 9] below.

[Equation 9]

After all, according to [Equation 8] and [Equation 9], when measuring the change in pressure (ΔP) by the plantar surface of the wearer in the ground reaction force sensor module 2000 according to the present invention, the plantar surface and The size of the ground reaction force (F) acting on the plantar surface of the wearer can be obtained regardless of the contact area of the sensor module or the shape of the plantar surface. That is, in [Equation 8], the magnitude of the ground reaction force (F) is proportional to the change in pressure (ΔP). When the ground reaction force correction coefficient (k) is obtained from [Equation 9], the The ground reaction force F can be accurately calculated using the change in pressure (ΔP) measured by the ground reaction force sensor module 2000.

9 is the accuracy of the magnitude of the calculated ground reaction force and the actual applied ground reaction force when the ground reaction force is calculated by the above-described equations using the ground reaction force sensor module 2000 according to the present invention, hysteresis and This graph shows the experimental results to verify the repeatability error.

9 (A) shows accuracy, FIG. 9 (B) shows hysteresis, and FIG. 9 (C) shows experimental results verifying the error of repeatability. The horizontal axis in FIG. 9 shows the applied force applied to the ground reaction force sensor module 2000 while the size is already known, and the vertical axis in FIG. 9 shows the measured ground force.

Referring to (A) of FIG. 9, when the force actually applied to the ground reaction force sensor module 2000 is changed in a range of 0 to 25 kgF, a force is repeatedly applied a predetermined number of times and compared with the measured ground reaction force. .

As shown in FIG. 9 (A), it can be seen that the magnitude of the ground reaction force actually applied to the ground reaction force sensor module 2000 and the measured ground reaction force are almost directly proportional, and the error corresponds to approximately 0.996%, which is very high. You can see that it has accuracy.

9 (B) is a graph showing experimental results for verifying the hysteresis error. Here, the hysteresis experiment measures the ground reaction force first while increasing the force actually applied to the ground reaction force sensor module 2000 from 0 kgF to 25 kgF, and again applies the force actually applied to the ground reaction force sensor module 2000 to 25 kgF. This corresponds to an experiment that compares the error between the 1st and 2nd measured values by measuring the ground reaction force as 2nd while reducing from 0 to 0 kgF.

9 (B), it can be seen that the hysteresis error for the ground reaction force sensor module 2000 is approximately 4.285%, so it can be accurately measured even when the magnitude of the ground reaction force increases or decreases. .

Furthermore, FIG. 9C is a graph showing experimental results for verifying repeatability errors. In the repeatability experiment, it corresponds to an experiment for confirming the error of the measured ground reaction force for each number of times by repeatedly applying a predetermined number of ground reaction forces of a predetermined size, for example, 20 times.

9 (C), it can be seen that the repeatability error corresponds to approximately 0.811%, so that the accuracy does not deteriorate even when the ground reaction force of the same size is repeatedly applied.

Meanwhile, in the experiment of FIG. 9, the magnitude of the ground reaction force of 0 to 25 kgF applied to the ground reaction force sensor module 2000 corresponds to approximately 0 to 500 kPa when converted to plantar pressure. In this case, the maximum plantar pressure when walking by a general person corresponds to approximately 260 kPa, and the maximum plantar pressure when driving is approximately 370 kPa. That is, since the maximum plantar pressure during walking or driving of a general person is included in the range of ground reaction force used in the experiment of FIG. 9, the plantar surface of the wearer when using the ground reaction force sensor module 2000 according to the present invention It can be seen that the ground reaction force acting on the can be accurately measured.

On the other hand, when measuring the ground reaction force acting on the wearer's plantar surface, the measurement environment may vary. For example, the shape of the sub-surface that applies force, such as a plantar surface, may change to have a flat or curved shape, or the properties of the sub-surface may be soft or hard. In addition, the housing 2005 of the ground reaction force sensor module 2000 may be changed to have a flat shape or a curved shape, or the properties of the load surface may be soft or hard.

FIG. 10 schematically illustrates an experiment for comparing the measured ground reaction force and the actual applied ground reaction force while changing the shape and properties of the load surface or the shape and properties of the housing 2005 in response to the aforementioned environmental change. do.

10 (A) corresponds to a standard experimental environment, and shows a case where both the load surface 4100 and the housing 2005 are flat. 10B shows a case where the subsurface 4400 has a smooth arc shape and the housing 2005 'has a smooth flat shape. In addition, FIG. 10C shows a case where the lower surface 4700 has a relatively round shape and the housing 2005 ”also has a round surface.

The experiment according to FIG. 10 was performed on nine measurement environments in all by combining three states of load (4100, 4400, 4700) and three states of housing (2005, 2005, 2005 ”).

FIG. 11 shows the results of the experiment, and the values measured by the ground reaction force sensor module 2000 according to the present invention (example) and the first film sensor according to the prior art while applying different loads through a load cell. (FSR) (Comparative Example 1) and a second film sensor according to the prior art (Flexiforce) (Comparative Example 2) is measured by comparing the measured value.

Referring to FIG. 11, as described above, as a result of measuring the magnitude of the ground reaction force while changing the magnitude of the ground reaction force actually applied in 9 measurement environments in the range of 0 kgF to 25 kgF, as shown in FIG. It can be seen that the values measured by the ground reaction force sensor module 2000 according to the present invention show relatively superior measurement values compared to the values measured by the first film sensor and the second film sensor according to the prior art. Therefore, it can be seen that the ground reaction force sensor module 2000 according to the present invention can measure the ground reaction force more accurately than the prior art even in the environment of the foot, the flexibility of the foot according to the wearer, and the environmental changes such as shoes.

Meanwhile, the ground reaction force sensor module 2000 described above may be mounted on an insole or a shoe worn on a wearer's foot.

12 is a plan view showing a shoe 5000 having at least one ground reaction force sensor module 2000 according to the present invention.

Referring to FIG. 12, the shoe 5000 may be manufactured by including at least one ground reaction force sensor module 2000.

At this time, the ground reaction force sensor module 2000 includes a first ground reaction force sensor module 2000A that senses the ground reaction force at the wearer's toe side, and a second ground reaction force sensor module that senses the ground reaction force at the heel side of the wearer ( 2000B).

That is, it is necessary to grasp the magnitude of the ground reaction force acting on the toe side and the heel of the wearer in order to distinguish the above-mentioned stance and swing phase when the wearer walks. Accordingly, the shoe 5000 may include a plurality of ground reaction force sensor modules 2000, in which case the first ground reaction force sensor module 2000A for sensing the ground reaction force on the toe side of the wearer and the heel of the wearer It may be configured to include at least a second ground reaction force sensor module (2000B) for sensing the ground reaction force.

The shoe 5000 shown in FIG. 12 includes, for example, five ground reaction force sensor modules 2000, and the ground reaction force sensor module 2000 is a first ground reaction force that senses the ground reaction force on the toe side of the wearer. Sensor module (2000A), a second ground reaction force sensor module (2000B) for sensing the ground reaction force of the wearer's heel side, and a third ground reaction force sensor module (2000C) for sensing the ground reaction force in the center of the plantar surface of the wearer And, a first metatarsal ground reaction force sensor module (2000D) and a second metatarsal ground reaction force sensor module (2000E) for detecting the ground reaction force of the metatarsal (metatarsals) of the wearer's foot.

The number and position of the ground reaction force sensor module 2000 provided in the shoe 5000 is not limited to the form shown in FIG. 12 and may be appropriately modified according to the measurement environment.

13 is a schematic diagram showing the configuration of the ground reaction force measurement system 9000 with the ground reaction force sensor module 2000 described above.

Referring to FIG. 13, the ground reaction force measurement system 9000 includes at least one of the ground reaction force sensor module 2000, which can be worn on the wearer's foot and the wearer's shoe 6000. It may be provided with a control unit (7000, 8000, 8500) for converting a change in pressure measured by the ground reaction force sensor module 2000 to the ground reaction force while wearing and applying force through the plantar surface.

The ground reaction force sensor module 2000 may be directly provided inside the shoe 6000. However, in this case, when the wearer wears the shoe 6000, a foreign body feeling may be provided, and when the maintenance work such as repair or replacement of the ground reaction force sensor module 2000 is required during use, the ground reaction force sensor module ( 2000) can be very difficult to separate easily. Accordingly, for maintenance of wearer convenience, replacement, repair, and the like, a shoe 5000 is inserted inside the shoe 6000, and the ground reaction force sensor module 2000 is at least attached to the shoe 5000. It is preferred that one is provided.

Meanwhile, the control units 7000, 8000, and 8500 may linearly detect a change in pressure in the ground reaction force sensor module 2000 and convert it into ground reaction force.

The control unit (7000, 8000, 8500) is, for example, as shown in Figure 13, a computer (computer) 7000, or a terminal device such as a smart phone (smart phone) that can be carried by a wearer ( 8000), or a wearable device 8500 that can be worn by a wearer.

Accordingly, the ground reaction force measurement method performed by the controllers 7000, 8000, and 8500 includes software included in the computer, a terminal device 8000 such as the smartphone, or wearables worn by a wearer. It may be performed by an application or app included in the device 8500.

The method for measuring the ground reaction force may include measuring a change in pressure using the ground reaction force sensor module 2000, and measuring the magnitude or distribution of the ground reaction force acting on the plantar surface by the measured pressure. You can. At this time, measuring the magnitude or distribution of the ground reaction force acting on the plantar surface comprises deriving a ground reaction force correction coefficient that converts the measured change in pressure into the magnitude of the ground reaction force, and the ground reaction force sensor module ( 2000) and deriving the magnitude or distribution of the ground reaction force.

First, the control units 7000, 8000, and 8500 measure a change in pressure (ΔP) using the above-described ground reaction force sensor module 2000. That is, when a force is applied to the ground reaction force sensor module 2000 by the wearer's plantar surface, a change in pressure is measured by the gas pressure sensor 2100.

Subsequently, the control units 7000, 8000, and 8500 measure the magnitude or distribution of the ground reaction force acting on the plantar surface of the wearer using the measured pressure change value.

At this time, the magnitude of the change in pressure (ΔP) and the ground reaction force (F) is proportional to the ground reaction force correction coefficient (k) as shown in [Equation 8].

In this case, the control unit (7000, 8000, 8500) calculates and determines the ground reaction force correction coefficient (k) by the above-mentioned [Equation 9], or determines a predetermined force to the ground reaction force sensor module 2000 By applying the measured change in pressure (ΔP), the ground reaction force correction coefficient (k) can be experimentally determined.

The process of calculating the ground reaction force correction coefficient k by the above-described [Equation 9] in the control units 7000, 8000, and 8500 has been already described, and thus repeated description will be omitted.

Meanwhile, the control units 7000, 8000, and 8500 may experimentally obtain the ground reaction force correction coefficient k. For example, FIG. 14 is a graph showing the results of experiments to obtain the ground reaction force correction coefficient (k).

In Figure 14, the horizontal axis shows the change in pressure (ΔP) measured by the ground reaction force sensor module 2000, and the vertical axis is the magnitude (F) of the ground reaction force actually applied to the ground reaction force sensor module 2000 through a load cell. It shows.

As shown in [Equation 8], the magnitude (F) of the ground reaction force acting on the foot surface is multiplied by the ground reaction force correction coefficient (k) multiplied by the change in pressure (ΔP) measured by the ground reaction force sensor module 2000. I can get it.

Therefore, the ground reaction force correction coefficient (k) is the pressure measured by the ground reaction force sensor module (2000) as the magnitude (F) of the ground reaction force actually applied to the ground reaction force sensor module (2000) as shown in [Equation 10] below. It can be obtained by dividing by the change (△ P).

[Equation 10]

In this case, the ground reaction force correction coefficient k corresponds to the slope in the graph of FIG. 14. The slope calculated from the graph of FIG. 14, that is, the ground reaction force correction coefficient k corresponds to approximately 3.999 × 10 ^-5 kgF / bit.

Accordingly, the ground reaction force correction coefficient k calculated experimentally by [Equation 10] may be stored in the controllers 7000, 8000, and 8500. In this case, using the ground reaction force sensor module 2000 according to the present invention, after measuring the change in pressure (ΔP) when the wearer walks, the control unit 7000, 8000, 8500 measures the ground reaction force correction coefficient ( Using k), the ground reaction force acting on the plantar surface of the wearer can be calculated.

On the other hand, correction may be necessary even when the magnitude of the ground reaction force acting on the plantar surface of the wearer is calculated by the above-described steps.

For example, when the wearer does not walk or run when the wearer wears the shoe 6000 with the ground reaction force sensor module 2000 built in, the pressure of the ground reaction force sensor module 2000 may change. . This is because when the wearer wears the shoe 6000, a force other than the ground reaction force, such as tightening of the shoe 6000, may be applied to the plantar surface of the wearer.

Accordingly, the control units 7000, 8000, and 8500 calibrate the ground reaction force sensed by the ground reaction force sensor module 2000 when no force is applied to the ground reaction force sensor module 2000 by the wearer's plantar surface. It can be defined as a value.

For example, the pressure measured by the ground reaction force sensor module 2000 while the wearer's weight is not carried on the shoe 6000 by lifting the foot from the ground one by one while the wearer wears the shoe 6000 It can be defined as a sensor correction value by converting the change of to force.

Therefore, when a force is applied to the ground reaction force sensor module 2000 by the wearer's plantar surface, that is, from the ground reaction force calculated through a change in the pressure of the ground reaction force sensor module 2000 when the wearer walks or travels, The ground reaction force of the plantar surface may be calculated by excluding the sensor correction value.

Meanwhile, as shown in FIG. 12, when the shoes 5000 are provided with a plurality of ground reaction force sensor modules 2000, the controllers 7000, 8000, and 8500 are measured by each ground reaction force sensor module 2000, respectively. The distribution of the ground reaction force along with the magnitude of the ground reaction force acting on the plantar surface can be measured by the ground reaction force F.

FIG. 15 shows the change of the ground reaction force of the stance phase of one foot wearing the shoe 6000 with the shoe 5000 provided with the five ground reaction force sensor modules 2000 as shown in FIG. 12. In Figure 15, the horizontal axis shows the flow of time (sec) in the standing machine, and the vertical axis shows the magnitude (kgF) of the ground reaction force measured through each ground reaction force sensor module (2000).

Referring to FIG. 15, in the loading response step (step (a)) of the above-mentioned stance machine, almost all ground reaction force is measured by the second ground reaction force sensor module 2000B that senses the ground reaction force of the wearer's heel side. This is because the heel of one foot first touches the ground during the loading response phase, which is the transition from the swing phase to the stance phase when a person walks.

Then, when entering the mid-stance stage ((b) stage) of the stance phase, the magnitude of the ground reaction force measured by the second ground reaction force sensor module 2000B on the heel side gradually decreases, and the central portion of the plantar surface of the wearer A third ground reaction force sensor module (2000C) for sensing ground reaction force, a first metatarsal ground reaction force sensor module (2000D) for sensing ground reaction force of the metatarrsals of the wearer's foot, and a second metatarsal ground reaction force sensor module (2000E) The magnitude of the ground reaction force measured at will rise.

Then, when entering the terminal stace stage ((c)) of the stance phase, the ground measured by the second ground reaction force sensor module 2000B on the heel side and the third ground reaction force sensor module 2000C in the center of the plantar surface. The magnitude of the reaction force decreases, and the magnitude of the ground reaction force measured by the first metatarsal ground reaction force sensor module 2000D and the second metatarsal ground reaction force sensor module 2000E gradually increases.

Thereafter, in the pre-swing phase of the stance phase (step (d)), the ground is pushed using the front part of the foot, so the first ground reaction force sensor module 2000A on the toe side and the first metatarsal ground force reaction sensor module 2000D A relatively large amount of ground reaction force is measured in the second metatarsal bone reaction force sensor module 2000E. In this case, the ground reaction force is hardly measured in the second ground reaction force sensor module 2000B on the heel side and the third ground reaction force sensor module 2000C in the center of the plantar surface.

On the other hand, the graph of FIG. 15 together shows a total trend line summing all the ground reaction forces measured by each of the ground reaction force sensor modules 2000.

In this case, the controllers 7000, 8000, and 8500 may calculate the total sum of the ground reaction forces acting on the plantar surface of the wearer by summing the ground reaction forces calculated by the ground reaction force sensor module 2000, respectively.

In addition, the control unit 7000, 8000, 8500 may calculate the weight of the wearer by the sum of the ground reaction forces. That is, the graph of FIG. 15 shows the magnitude and distribution of the ground reaction force measured by shoes worn on one foot when walking. Therefore, the size and distribution of the ground reaction force acting on the other foot during walking can be obtained in the same manner, and when the sum of the ground reaction forces acting on both feet is calculated, the wearer's weight can be obtained.

In addition, the fraud control unit may determine the walking state of the shoe wearer through a change in the ground reaction force, and use it as control information of a robot driving device, which will be described later.

On the other hand, as described above, a lower body assist robot, which guides or assists walking by providing assistive power to the lower body of a paralyzed patient, a rehabilitation patient, or an elderly person, has recently been developed. It is a perspective view showing (1000).

Referring to FIG. 16, the lower body assist robot 1000 includes a body 500 disposed at a wearer's waist and a pair of leg units extending downward from the body 500 to support each leg of the wearer. (600l, 600r).

Here, the leg units 600l and 600r are provided in the hip joint and the knee joint, respectively, to provide auxiliary torque to the thigh and thigh to assist the wearer's independent walking.

Accordingly, a driving device for providing driving torque may be provided in the corresponding regions of the hip and knee joints of each leg unit 600l and 600r.

Each leg unit is connected to the articulators 100a, 100b, and the frame parts 410, 430 and the lower frame part 430 connected to the articulators 100a, 100b to support or assist the wearer's thigh and lower leg. It may be connected and provided with a foot support 300 for supporting the wearer's foot.

The joint actuators 100a and 100b may be installed on the hip joint and the knee joint, respectively, the first joint actuator 100a may be installed, and the second joint actuator 100b may be installed on the knee of the leg. have.

In addition, the respective frame portions 410 and 430 may be provided with a wearing portion 420 for fixing the wearer's thigh and lower thigh portions to the frame portions 410 and 430, and the auxiliary force provided by each joint actuator is Eventually, the wearer 420 may be transmitted to the wearer's thigh or lower thigh to assist with independent walking.

However, the size and distribution of the ground reaction force continuously changes while the wearer wearing the lower body assist robot 1000 walks, and accordingly, the first joint actuator 100a and the wearer's leg installed in the hip joint part of the wearer The optimal driving force required by the second joint actuator 100b installed at the knee portion of the body also changes.

That is, the size of the driving force required by the first joint actuator 100a of the hip joint region and the second joint driver 100b of the knee region at different stages of the stance phase in the wearer's walking cycle is different, and the wearer's walking It is necessary to provide the appropriate driving force described above according to the period or each step of the stirrer.

At this time. When the ground reaction force sensor module 2000 according to the present invention is attached to the foot support part 300 supporting the wearer's foot of the lower body assist robot 1000, the wearer who wears the lower body assist robot 1000 walks If it does, the size and distribution of the ground reaction force can be measured.

Accordingly, the magnitude of the driving force required by the first joint actuator 100a of the hip joint region of the lower body assist robot 1000 and the second joint actuator 100b of the knee region may be calculated according to the measured magnitude and distribution of the ground reaction force. Accordingly, it is possible to provide an optimal driving force to the first joint actuator 100a and the second joint actuator 100b.

In addition, the wearer who wears the lower body assist robot 1000 may check at any point during the walking cycle by the size and distribution of the measured ground reaction force.

For example, as the stance phase progresses, the size and distribution of the ground reaction force measured by each ground reaction force sensor module 2000 located at the bottom of the plantar surface may be previously stored in the controllers 7000, 8000, and 8500.

Subsequently, the control unit 7000 measures the size distribution of the ground reaction force measured by each ground reaction force sensor module 2000 located at the bottom of the plantar surface at a point in time while the wearer actually walks while wearing the lower body assist robot 1000. 8000, 8500), it is possible to determine which stage the wearer is in during the phase of the standing phase by comparing with the size and distribution of the ground reaction force stored in advance.

Accordingly, the control unit of the lower body assist robot 1000 provides optimal driving force required by the first joint actuator 100a and the second joint actuator 100b at the stage of the corresponding stance phase to the hip and knee of the wearer. Thus, the wearer can enable normal walking.

Although this specification has been described with reference to preferred embodiments of the present invention, those skilled in the art variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims set forth below. You can do it. Therefore, if the modified implementation basically includes the components of the claims of the present invention, it should be considered that all are included in the technical scope of the present invention.

2000: Ground reaction force sensor module
2005: housing
2010: closed chamber space
2030: Support bar made of elastic material
2100: Gas pressure sensor
5000: shoes
6000: shoes
7000, 8000, 8500: control unit
9000: Ground reaction force measurement system

Claims (20)

The housing is accommodated in the gas and has one closed chamber space and is made of an elastic material; A plurality of support bars vertically spaced from each other inside the chamber space and made of an elastic material; And a gas pressure sensor provided on one side of the housing to measure the pressure in the chamber space, and a ground reaction force sensor module for determining ground reaction force through the pressure measured by the gas pressure sensor. Placed shoes; And,
It is provided with a control unit for converting the pressure measured in each of the plurality of ground reaction force sensor module of the wearer wearing the shoes into the ground reaction force in each area of the ground reaction force sensor module arrangement,
The controller determines the ground reaction force in the form of F = k · △ P, F is the ground reaction force, k is the ground reaction force correction coefficient, and △ is defined as the change in pressure measured by the ground reaction force sensor module,
The ground reaction force correction coefficient (k) is determined by a calculation formula or a ground force measurement system characterized in that it is determined experimentally by a change in pressure measured by applying a predetermined force to the ground reaction force sensor module. According to claim 1,
The calculation formula for determining the ground reaction force correction coefficient is as follows,

Here, n is the number of the support bars, E is the ratio of the height strain (vertical stress (σ) to ε) of the support bar, V _{air, 0} is a virtual cell centered on a support bar made of one elastic material The initial volume of air in the unit, A _pillar is the cross-sectional area of the support bar, c is the Boy's constant, α is a virtual cell unit centered on the support bar made of one elastic material for the V _{air, 0} Ground reaction force measurement system, characterized in that defined by the ratio of the volume. According to claim 1,
The control unit defines a ground reaction force detected by the ground reaction force sensor module as a sensor correction value when no force is applied to the ground reaction force sensor module by the plantar surface of the wearer,
When a force is applied to the ground reaction force sensor module by the plantar surface of the wearer, the ground reaction force of the plantar surface is calculated by excluding the sensor correction value from the ground reaction force calculated through the ground reaction force sensor module. Ground reaction force measurement system. According to claim 3,
The control unit is a ground reaction force measurement system characterized in that for measuring the ground reaction force distribution of the plantar surface of the wearer by the ground reaction force derived through the ground reaction force sensor module. According to claim 4,
The control unit is a ground reaction force measurement system, characterized in that for measuring the weight of the wearer by summing the ground reaction force derived through the ground reaction force sensor module. According to claim 4,
The control unit is a ground reaction force measuring system, characterized in that for detecting the walking state of the wearer of the shoe through the change state of the ground reaction force derived from each of the plurality of ground reaction force sensor module. According to claim 1,
The support bar is made of an incompressible material that does not cause a volume change according to pressure, and the height change of the support bar generates a pressure change of the gas inside the chamber space. According to claim 1,
The distance between the plurality of support bars is determined to be at least twice the maximum radius increase amount of the support bar, and the maximum radius increase amount is applied when a pressure corresponding to twice the maximum plantar pressure acting by the plantar surface is applied. Ground reaction force measurement system, characterized in that defined as the increase in the radius of the support bar. According to claim 1,
The gas pressure sensor
Gas pressure sensor cover provided on one side of the chamber space,
Ground pressure reaction measurement system, characterized in that it comprises a gas pressure sensor embedded in the gas pressure sensor cover. According to claim 1,
A plurality of the support bar is composed of a hexagonal column shape, the opposite side of the adjacent support bar is a ground reaction force measuring system, characterized in that arranged in parallel. The housing is accommodated in the gas and has one closed chamber space and is made of an elastic material; A plurality of support bars vertically spaced from each other inside the chamber space and made of an elastic material; And a gas pressure sensor provided on one side of the housing to measure the pressure in the chamber space, and a ground reaction force sensor module for determining ground reaction force through the pressure measured by the gas pressure sensor. In the method for measuring the ground reaction force using the placed shoes,
Measuring a pressure or a change in pressure using the ground reaction force sensor module; And
And measuring the magnitude or distribution of the ground reaction force acting on the plantar surface by the measured pressure,
The step of measuring the magnitude or distribution of the ground reaction force acting on the plantar surface comprises deriving a ground reaction force correction coefficient that converts the measured change in pressure into the magnitude of the ground reaction force, and calculates a sensor correction value of the ground reaction force sensor module. Obtaining, and deriving the magnitude or distribution of the ground reaction force. The method of claim 11,
In the step of deriving the ground reaction force correction coefficient,
The ground reaction force correction coefficient is calculated and determined by a calculation formula, or the predetermined force is applied to the ground reaction force sensor module to experimentally determine the ground reaction force correction coefficient by a change in pressure or pressure measured. Ground reaction force measurement method. The method of claim 12,
In the step of deriving the ground reaction force correction coefficient, the ground reaction force correction coefficient is determined by the following equation:

Here, n is the number of the support bars, E is the ratio of the height strain (vertical stress (σ) to ε) of the support bar, V _{air, 0} is a virtual cell centered on a support bar made of one elastic material The initial volume of air in the unit, A _pillar is the cross-sectional area of the support bar, c is the Boy's constant, α is a virtual cell unit centered on the support bar made of one elastic material for the V _{air, 0} Ground reaction force measurement method, characterized in that defined as the ratio of the volume. The method of claim 11,
In the step of obtaining the sensor correction value of the ground reaction force sensor module
A method for measuring ground reaction force, characterized in that when a force is not applied to the ground reaction force sensor module by the wearer's plantar surface, the ground reaction force detected by the ground reaction force sensor module is defined as a sensor correction value. The method of claim 14,
In the step of deriving the magnitude or distribution of the ground reaction force, the magnitude of the ground reaction force is calculated by the formula F = k · ΔP, where F is ground reaction force, k is the ground reaction force correction coefficient, and △ is the ground reaction force sensor module. A method for measuring ground reaction force, characterized by being defined as a change in measured pressure. The method of claim 15,
In the step of deriving the magnitude or distribution of the ground reaction force
A method for measuring ground reaction force, characterized in that the ground reaction force of the plantar surface is calculated by excluding the sensor correction value from the calculated magnitude of ground reaction force. The method of claim 15,
In the step of deriving the magnitude or distribution of the ground reaction force
A method for measuring ground reaction force, characterized by determining the distribution of ground reaction force on the plantar surface of the wearer, the weight of the shoe wearer, or the walking state of the shoe wearer by the ground reaction force derived through the ground reaction force sensor module.
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