KR102219037B1 - Overshoes type device for measuring ground reaction force - Google Patents

Abstract

The present invention relates to an overshoe-type ground reaction force measurement device, and more particularly, it can be used by users of various foot sizes, can be applied while wearing shoes, and is easy to manage, maintain, and replace. It relates to the device.

Description

Overshoes type device for measuring ground reaction force

The present invention relates to an overshoe-type ground reaction force measurement device, and more particularly, it can be used by users of various foot sizes, can be applied while wearing shoes, and is easy to manage, maintain, and replace. It relates to the device.

Ground Reaction Focec (GRF) has been widely used for various purposes such as gait phase analysis, abnormal gait detection, prosthetic or exoskeleton control in human gait, and the magnitude and pattern of ground reaction forces during walking Various devices are being developed to analyze walking information.

As an example of a conventionally introduced method, a method of walking on a plate on which a force plate is installed to analyze walking information or walking characteristics and analyzing the magnitude of the ground reaction force, the location of the pressure center point, the walking cycle, etc. However, in the above method, since a pressure sensor such as a piezo or a load cell must be densely installed on the entire measurement plate, the cost is very high to enlarge the measurement plate itself, the installation location is very limited, and there is a limit to the operation that can be measured.

And another example is a method of measuring the ground reaction force and gait pattern (including gait cycle) during movement by attaching a force or pressure sensor module to the inside of the shoe, and this method uses a pressure sensor module capable of measuring pressure. It is a method of measuring ground reaction force and walking pattern by installing it inside and measuring the repulsive force between a person's foot and shoes.

This method solves the limitations of the method of measuring ground reaction force using the aforementioned force plate, but the shoe size is selected according to the size of the foot, and a dedicated pressure sensor module for the shoe is installed. There is a problem in that it is impossible to apply one pressure sensor module to shoes of various sizes, and because the pressure sensor module must be made of a soft material so that the pressure of the plantar surface is transmitted, durability is poor.

In addition, when the wear of the shoes or the insole on which the pressure sensor module is mounted is intensified, the pressure sensor module must also be discarded, resulting in unnecessary waste of cost.

And as another example, a sandal-type ground reaction force measuring device including a rigid structure for embedding a pressure measurement sensor such as a load cell has been introduced, but the plate member causes discomfort in the sole of the foot while walking, causing pain. And there is a problem that it causes abnormal walking and cannot accurately measure the ground reaction force, which is also incompatible depending on the foot size.

Republic of Korea Patent Publication No. 10-2015-0102312 (published on September 7, 2015)

An object of the present invention is to provide an overshoes type ground reaction force measuring device that can be used by users of various foot sizes, can be applied while wearing shoes, and can be easily managed, maintained, and replaced.

In order to solve the above problems, the present invention is a housing made of a flexible material that is worn to surround shoes; And a tow sensor disposed in front of the support surface of the shoe bottom of the housing to measure a pressure change in front of the shoe bottom, a heel sensor disposed behind the support surface of the shoe bottom of the housing to measure pressure change at the rear of the shoe bottom, A body unit connected to the tow sensor and the heel sensor, respectively, and configured to transmit sensing data of the tow sensor and the heel sensor to an external device; including a sensor module detachable from the housing; Device can be provided.

In addition, the tow sensor, the heel sensor, and the body portion are respectively connected by a stretchable front connection portion and a rear connection portion, and the body portion may be disposed between the heel sensor and the tow sensor.

In this case, at least one seating groove for seating the tow sensor, the front connection part, the body part, the rear connection part, and the heel sensor may be formed on the support surface of the bottom of the shoe of the housing.

In addition, at least one cover member for covering an upper portion of the sensor module may be further provided.

Here, the resistance value of the toe sensor and the heel sensor is changed according to a pressure change applied by the front or rear of the shoe bottom, and the main body of the sensor module is an output voltage according to the input voltage of the toe sensor and the heel sensor. And a wireless communication module for wirelessly transmitting the detected output voltage or ground reaction force according to the output voltage to the external device.

In addition, the front connection part and the rear connection part may each include an integrated cable connecting the tow sensor and the heel sensor to the body part.

In this case, the integrated cable may include a bending portion that is bent at least once to enable length adjustment or elastic expansion and contraction of the front connection portion and the rear connection portion.

And, in order to prevent the tension according to the expansion and contraction of the front connection part and the rear connection part by the bending part from being transmitted to the tow sensor, the body part, or the heel sensor, the front connection part and the rear connection part are at least one end of the A cable holder for supporting the cable to the housing may be provided.

Here, the external device may be a gait analysis device for analyzing the gait motion of a pedestrian wearing an overshoes type ground reaction force measurement device.

In addition, the external device may be a control device of a wearable robot.

In this case, the main body of the sensor module may further include a power supply for supplying power to the tow sensor, the heel sensor, and the wireless communication module.

In addition, the housing may include an instep support part for wrapping and supporting the instep of the shoe and a heel support part for surrounding and supporting the heel of the shoe.

According to the overshoe-type ground reaction force measuring device according to the present invention, it is made of a flexible material housing and can be easily worn and used on the outside of everyday shoes regardless of the size of the foot and the type of shoe.

In addition, the housing according to the size of the shoe is applied and the sensor module is shared so that it can be applied to a variety of wearers, thereby reducing cost and improving usability.

In addition, since the sensor module can be separated from the housing surrounding the wearer's shoes or feet, it can be easily separated for maintenance, replacement, charging, etc. of the sensor module, so maintenance or management is easy.

In addition, since the sensor module can be branched from the housing and information measured from the sensor module can be collected by wire or wirelessly, it can be applied to various solutions.

1 is a wearing state diagram of an overshoes type ground reaction force measuring device according to the present invention.
FIG. 2 is a perspective view of an overshoes type ground reaction force measuring device shown in FIG. 1.
3 is an exploded perspective view of the overshoe type ground reaction force measuring device shown in FIG. 1.
Figure 4 (a) is a perspective view of the sensor module of the overshoe type ground reaction force measuring device according to the present invention, Figure 4 (b) is a perspective view of a support surface on which the sensor module can be mounted.
5 is a plan view illustrating a support surface of a housing in a state in which the sensor module is seated.
6(a) and 6(b) are partially enlarged perspective views of the housing support surface of the overshoe type ground reaction force measuring device shown in FIG. 1.
7 shows a configuration diagram of another overshoe type ground reaction force measuring device according to the present invention.
FIG. 8 shows a walking state while wearing the overshoes type ground reaction force measurement device shown in FIG. 1.
9 shows a voltage measurement value according to the walking state shown in FIG. 8.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments described below are only described in detail enough to allow those of ordinary skill in the art to carry out the invention easily, and this does not mean that the protection scope of the present invention is limited. Does not. And, in describing various embodiments of the present invention, the same reference numerals will be used for components having the same technical characteristics.

1 shows a state in which the overshoes type ground reaction force measurement device according to the present invention is worn, and with reference to this, the overshoes type ground reaction force measurement apparatus of the present invention will be described.

As shown in FIG. 1, the overshoes type ground reaction force measuring device 10 according to the present invention is worn in a manner in which the wearer of the shoe S wears the overshoes outside while wearing the shoe S, In this state, it is a device that measures the pressure on the plantar surface or ground reaction force according to the gait cycle when the wearer walks.

At this time, the shoe (S) may be inserted into the housing 100 and mounted, and the front portion of the shoe (s) is inserted into the instep support portion 110 of the housing 100 to wrap and support the instep portion of the shoe (s). And, the heel portion of the shoe (s) is inserted and supported by the heel support portion 130, and the bottom of the shoe (s) may be seated on the support surface 120 of the housing 100.

In this state, the wearer applies pressure to a pressure sensor built into the support surface 120 of the housing 100 according to the walking motion while walking, detects the change in resistance of the sensor, and detects the change in resistance. Based on the output voltage, it can be used as data to measure plantar pressure or ground reaction force applied to each sensor, or to determine a wearer's gait status, gait cycle, gait pattern, etc.

Figure 2 shows a perspective view of such an overshoe type ground reaction force measuring device, and Figure 3 shows an exploded perspective view. With reference to this, a configuration for sensing and measuring the pressure described above will be described.

The overshoe type ground reaction force measurement device according to the present invention includes a housing 100, a sensor module 200, and a cover member 300, and the sensor module 200 is mounted on the housing 100, and the sensor module 200 It may be configured to cover the cover member 300.

Here, the housing 100 surrounds the wearer's shoe (s), and the housing may be made of a flexible material such as silicone or rubber so that the wearer's shoe (s) can be easily worn. On the other hand, the wearer's feet may be directly worn in the housing 100, and regardless of whether they are worn on the shoes (s) or the wearer's feet, it is made of a flexible material and is put into the instep support part 110 of the housing 100 from the front toe area. After the heel support 130 can be worn by extending it to the heel portion of the wearer.

The housing 100 may include a support surface 120, an instep support 110 provided in front of the support surface 120, and a heel support 130 provided at the rear of the support surface 120, and , The support surface 120, the instep support part 110, and the heel support part 130 are made of a flexible material as described above, and are integrally configured or each support part is added to the side of the support surface in the form of a separate band. It can be configured in such a way as to be used.

At least one seating groove 125 into which the sensor module 200 can be seated or detached is formed on the support surface 120 of the housing, and the seating grooves 125 are each of the sensor modules 200. It is configured according to the shape of the configuration, and after the sensor module 200 is mounted in the seating groove 125, the cover member 300 is covered to prevent direct contact between the sensor module and the bottom of the shoe to prevent damage or separation of the sensor module. I can.

Figure 4 (a) is a perspective view of the sensor module 200 of the overshoe type ground reaction force measuring device according to the present invention, Figure 4 (b) is a perspective view of the support surface 120 on which the sensor module 200 can be seated 5 is a plan view of the support surface 120 of the housing 100 in a state in which the sensor module 200 is seated. With reference to this, the sensor module 200 will be described.

The sensor module 200 may include a tow sensor 210, a heel sensor 220, a main body 230, a front connection 215, and a rear connection 225.

The sensor module 200 includes a toe sensor 210 and a heel sensor 220 for measuring plantar pressure or ground reaction force applied to the support surface 120 of the housing 100 by the bottom of the shoe, and The toe sensor 210 and the heel sensor 220 may provide pressure change data by the front or rear of the bottom of the shoe in a manner in which resistance is varied according to a change in pressure with respect to an input voltage to determine an output voltage.

Here, as described above, the sensor module 200 may be seated in the seating groove 125 of the support surface 120, and in detail, the seating groove 125 of the support surface 120 is the tow sensor 210 A tow sensor seating portion 125a that can be seated, a front connecting portion seating portion 125b in which the front connection portion 215 can be seated, a body seating portion 125c in which the main body 230 can be seated, and a rear connection portion It may include a rear connection part seating portion 125d on which the 225 can be seated and a heel sensor seating portion 125e on which the heel sensor 220 can be seated.

At this time, each of the mounting portions (125a to 125e) may be formed according to the shape of each component (210 to 230) of the sensor module 200 to be seated, each component (210 to 230) of the sensor module 200 is stable It can be seated as, and it is possible to minimize the separation or malfunction of the sensor module 200.

The tow sensor 210 is on the tow sensor seat 125a in front of the support surface 120 of the housing 100, the heel sensor 220 is on the heel sensor seat 125e behind the support surface 120, and the main body The unit 230 is disposed between the tow sensor 210 and the heel sensor 220 to be seated on the body part seating part 125c, and the toe sensor 210 and the heel sensor 220 are each body part 230 It is connected by the front connection portion 215 and the rear connection portion 225 to measure the ground reaction force of the front or rear.

The tow sensor 210 is disposed in the front area on the support surface 120 of the housing 100, and may measure a change in pressure in front of the wearer's foot or the bottom of the shoe.

The tow sensor 210 may be formed in the form of a thin film or may be formed in the form of a plate. The tow sensor 210 may be formed in a circular shape, but is not limited thereto.

The tow sensor 210 is configured such that the resistance value varies according to the pressure, and may be configured of, for example, a piezo sensor, a load cell, a pressure-sensitive pressure sensor (FSR), or the like. Accordingly, the tow sensor 210 measures a pressure change by a change in input/output voltage according to a voltage change, and this measurement method will be described later.

The heel sensor 220 is disposed in the rear area of the support surface 120 of the housing 100 and may measure a pressure change at the rear of the wearer's foot or the bottom of the shoe.

The heel sensor 220 may also be a sensor in the same manner as the tow sensor 210.

The front connection part 215 connects the tow sensor 210 and the body part 230, and the length of the connection with the tow sensor 210 is adjusted or the elastic stretch or the position of the tow sensor 210 is determined by the size or structure of the foot of the wearer. It may be configured to be stretchable so that it can be adjusted according to the like.

To this end, the front connection part 215 may be provided with a bent part (no reference numeral) that is bent at least one or more times, as shown in FIG. 4(a), and thus length adjustment or elasticity expansion and contraction by the bending part This could be possible.

The front connector 215 may be formed of a plurality of cables such as a power line and a signal line, but may be formed of an integrated cable by combining a power line and a signal line into one cable. For reference, only an example of an integrated cable is illustrated in FIGS. 3 to 6, but is not limited thereto.

The cable may include a plurality of bending portions and may be configured to be stretchable or adjustable in length, and may be configured to have contraction elasticity in an extended state, and may be mounted in a housing corresponding to various shoe sizes. In addition, when the housing itself is elongated along with shoe deformation during walking, the bending portion may buffer the deformation amount corresponding to the elongation of the housing.

However, since each of the sensors may be configured in the form of a thin film or sheet, it may be easily displaced or deformed in shape due to elasticity or contraction traction applied by a cable or the like.

Therefore, the tension or tension according to the expansion and contraction of the bending part is transmitted to the tow sensor 210 or the heel sensor 220 and/or the main body 230 at one end and/or the other end of the front connection part 215 or the rear connection part 225 In order to prevent this, a cable holder h may be provided for fixing and supporting the end of the housing 100. The cable holder (h) may be configured in the form of a fixed piece fixed to the cable.

6(a) shows a portion in which the cable holder h is mounted in the seating groove 125 of the support surface 120, and FIG. 6(b) shows a state in which the cable holder h is mounted. Referring to this, the cable holder h may be formed in a U shape, a circular shape, or a square shape, and a structure capable of supporting the cable may be applied without limitation.

In detail, as shown in Figure 6, the cable holder (h) may be provided at both ends of the front connection portion 215 and the rear connection portion 225, to fix the ends of each of the connection portions (215, 225). I can.

At this time, referring to FIG. 6(a), the front connection part 215 connecting the tow sensor 210 and the body part 230 is configured to connect the tow sensor 210 or the body part 230 by its own tension or tension. Since the tow sensor 210 or the main body 230 may be displaced by traction, the cable holder h mounted on the tow sensor 210 side of the front connection part 215 can be caught and supported. A stepped portion p may be formed between the seating portion 125b of the front connection portion at the seating portion 125a side.

In this stepped portion (p), as shown in Figure 6 (b), a cable holder (h) may be mounted, that is, a cable, that is, the front connection part 215 is the housing 100 by the cable holder (h). ) By being supported on the support surface 120 of the front connection part 215 may be prevented from being transmitted to the tow sensor 210 or the body part 230.

Likewise, as shown in FIG. 6(a), the stepped portion p is also on the side of the main body 230 of the front connecting portion 215, that is, between the front connecting portion seating portion 125b and the body portion seating portion 125c. 6 (b), a cable holder (h) is mounted on the stepped portion (p) so that the front connection portion 215 is formed of the housing 100 by the cable holder (h). By being supported on the support surface 120, tension due to the expansion and contraction of the front connection part 215 may be prevented from being transmitted to the body part 230 or the tow sensor 210.

In the same way, the heel sensor 220 side and the main body 230 side of the rear connection part 225, in other words, between the main body part seating part 125c and the rear connection part seating part 125d and the rear connection part seating part 125d A stepped portion p is formed between the and the heel sensor seating portion 125e, respectively, and a cable holder h may be mounted to the stepped portion p, respectively.

As the movement of the cable holder (h) is restricted by the stepped portion (p), the tension due to the expansion and contraction of the bending portion of the rear connection portion 225 can be prevented from being transmitted to the heel sensor 220 or the body portion 230. Yes is the same.

The rear connection part 225 is a configuration corresponding to the front connection part 215 described above, and a repetitive description thereof is omitted.

7 shows a configuration diagram of another overshoe type ground reaction force measuring device according to the present invention.

The main body 230 is connected between the tow sensor 210 and the heel sensor 220, respectively, as described above, and converts and transmits the data measured from each sensor, specifically, the voltage change of each sensor. Plays a role. To this end, the main body 230 may include a controller 232, a wireless communication module 236, a power supply 234, and a converter 238.

As described above, the output voltage of the tow sensor 210 and/or the heel sensor 220 may be changed according to the ground reaction force, and the change in the output voltage may be amplified by the Op Amp (amplifier, 239). .

The voltage output from the tow sensor 210 and the hill sensor 220 may be directly or input to the converter 238 through the amplifier 239, and the converter 238 transmits a signal from the sensor to the controller 232 It can be digitally converted for processing.

The converter 238 may be an ADC that converts an analog signal into a digital signal, and may sample an output voltage from a sensor input in real time and convert it into a digital signal.

The controller 232 can control the signal transmitted through the converter 238 to be transmitted to the external device 400 through the wireless communication module 236, and the wireless communication module 236 transmits the converted electrical signal. It can be transmitted wirelessly to the external device 400. In this case, the wireless communication module 236 may be a communication module of a short-range wireless communication method such as ZigBee or Bluetooth or Wi-Fi.

Here, the controller 232 provides the change in the voltage value of the tow sensor 210 and/or the heel sensor 220 to an external device, and uses the external device 400 as analysis data to analyze the gait motion, gait pattern, etc. Can be utilized.

For example, the tow sensor 210 or the heel sensor 230 may be a pressure sensor configured to change the resistance of the sensor when pressure is applied, and the external device receiving the pressure change data may be the tow sensor 210 or The heel sensor 230 may determine whether the toe of the wearer's foot and the heel are grounded, ground reaction force (or plantar pressure), or a walking period.

Meanwhile, the external device 400 receiving the communication signal may be a gait analysis device 420 for analyzing the gait motion of a pedestrian wearing the overshoe type ground reaction force measurement device of the present invention. The gait analysis device 420 may be a computer or a tablet in which a gait analysis program is installed, and may be a dedicated equipment for gait analysis.

The gait analysis device 420 is based on the data transmitted through the wireless communication module 236 of the body unit 230, whether the toe and heel of both feet are grounded, ground reaction force (or plantar pressure) or gait in the corresponding area It can be used as data to determine the gait cycle, gait pattern, or gait specificity of a periodic walker.

In addition, the external device 400 may be a control unit 410 of a wearable robot including an overshoe type ground reaction force measuring device of the present invention. Therefore, the control unit 410 determines whether the toe and heel of both feet of the pedestrian are grounded and the walking state based on the data transmitted through the wireless communication module 236 of the main body unit 230 to assist each joint, etc. Alternatively, it is possible to appropriately assist each joint, thigh, lower leg, etc. according to the gait cycle by controlling the actuator for providing the auxiliary torque.

That is, if the wearable robot provides simple and repetitive assistance while ignoring the wearer's walking cycle, injury to the wearer may occur or pain may be provided to the wearer's body. Proper support should be provided to the joints, etc. Therefore, in order to determine the gait cycle, the overshoes type ground reaction force measuring device according to the present invention may be applied and used as a driving device of a wearable robot or control information of a driver.

The power supply unit 234 of the main body may supply power to the controller 232, the wireless communication module 236, the tow sensor 210, and the heel sensor 220, and in this case, power is indirectly supplied through the controller 232. You can also supply. As described above, the power supply unit 234 may be a rechargeable battery, or may be an exchangeable mercury battery having a voltage such as 3.3v.

8(a) to 8(d) show the walking state of the wearer wearing the overshoe-type ground reaction force measuring device of the present invention, and FIG. 9 shows the voltage value change accordingly.

Here, in the feet shown in FIGS. 8(a) to 8(d), rl is the right foot and ll is the left foot, in FIG. 8, LH is the voltage data of the left heel sensor, and RH is the voltage of the right heel sensor. Data, LT is the voltage data of the left-footed tow sensor, and RT is the voltage data of the right-footed tow sensor.

First, in the state shown in FIG. 8(a), the left foot may be in the initial stance phase of the left foot in which the left heel region touches the ground.

The tow sensor 210 and the heel sensor 220 may be configured in the form of a pressure sensor in which the internal resistance of the sensor decreases when external pressure is applied.

Therefore, when pressure is applied to the left foot heel sensor 220 in the initial stance driving state of the left foot, the resistance of the heel sensor rapidly decreases, and accordingly, as shown in the blue graph (voltage value of LH) around 0.1 seconds in FIG. A sudden rise in voltage may occur, and accordingly, the controller 232 or the external device 400 may determine that the wearer's left foot is in an initial stance phase.

On the other hand, as shown in Figs. 8(b) and 8(c), the wearer enters the mid-term stance phase in which the (left) foot contacts the ground as a whole, and as the mid-term stance phase progresses, the left foot heel sensor The pressure applied to the toe sensor gradually decreases, and the resistance value changes accordingly, and the voltage value decreases with the blue graph (voltage value of LH) around 0.1 seconds to 0.4 seconds in FIG. 9, and the pressure gradually decreases in the tow sensor. When applied, the resistance of the tow sensor is lowered, and accordingly, the output voltage of the left-footed tow sensor may increase as shown in a red graph (voltage value of LT) around 0.1 to 0.4 seconds in FIG. 9.

That is, in the mid-term stance phase, since the weight is distributed over the entire foot and pressure may be distributed to each sensor, the walking cycle can be determined according to the output voltage of each sensor.

Thereafter, as shown in FIG. 8(d), when the forefoot of the left foot reaches the late stance phase where the heel falls from the ground while the forefoot of the left foot is in contact with the ground, the pressure applied to the heel sensor is removed, so that the heel sensor resistance value is reduced. As it increases to the default value, the output voltage rapidly converges to zero. On the other hand, the pressure applied to the toe sensor of the left foot is maximized and the output voltage of the toe sensor of the left foot can be maximized.

Thereafter, although not shown, the wearer's left foot enters the swing phase in which the wearer's left foot floats in the air, and accordingly, pressure is not applied to the heel sensor and the toe sensor of the left foot. As illustrated, values of the blue graph (the voltage value of LH) and the red graph (the voltage value of LT) are nearly zero (default) may appear.

In addition, in the test results shown in FIG. 9, it is shown that the voltage values of the right foot heel sensor and the toe sensor are different from that of the left foot heel sensor and the toe sensor. If it is not a malfunction of the sensor module, it may be assumed that there is a difference in the walking pattern or habit of the left foot and the right foot, or that the weight sharing between the left and right feet is not uniform due to a disorder or injury.

That is, it is possible to control the wearable robot by diagnosing that the wearer has difficulty in walking in the right leg compared to the left leg, and providing greater assistance to the right hip and knee joints of the wearable robot.

In this way, the gait cycle, gait status, etc. can be determined, but the judgment method exemplified here is only an example, and the gait status or gait cycle can be determined by combining clinical or other algorithms and ergonomic judgment related to gait. Of course.

As described above, the overshoe-type ground reaction force measurement device according to the present invention has been described, and therefore, the wearer is made of a flexible material housing by wearing such an overshoe-type ground reaction force measurement device, so that it is external to the shoes for everyday life regardless of the size of the feet and the type of shoes. It can be easily worn and used, and various sized housings can be applied to the sensor module, minimizing cost and maximizing usability.

In addition, since it can be worn on shoes, the overshoe-type ground reaction force measuring device may not directly contact the skin, so various materials can be applied when selecting the material for the wearer, and the housing surrounding the wearer's shoes or feet and the sensor module It is detachable and can be easily detached for maintenance, replacement, charging, etc. of the sensor module, making it easy to maintain or manage, and the sensor module can be branched from the housing, and information measured from the sensor module is collected by wire or wirelessly It is possible to use a ground reaction force measuring device that can be applied to various solutions.

The overshoe-type ground reaction force measurement device according to the present invention has been described above, but those of ordinary skill in the art to which the embodiment pertains can be implemented in other specific forms without changing the technical idea or essential features. You can understand. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting.

100: housing
200: sensor module
300: cover member
400: external device

Claims (12)

A housing made of a flexible material that is worn to surround the shoe; And,
A tow sensor disposed in front of the support surface of the shoe bottom of the housing to measure the pressure change in front of the shoe bottom, a heel sensor disposed behind the support surface of the shoe bottom of the housing to measure the pressure change at the rear of the shoe bottom, and the tow sensor And a main body connected to the heel sensor and transmitting sensing data of the tow sensor and the heel sensor to an external device; including, a sensor module detachable from the housing; and
The tow sensor, the heel sensor, and the body part are each connected by a front connection part and a rear connection part in the form of a cable which is provided with a bending part bent at least one or more times, respectively, and the body part is between the heel sensor and the tow sensor. Is placed in,
On the support surface of the bottom of the shoe of the housing, the tow sensor, the front connection part, the body part, the rear connection part, and the tow sensor seating part in the form of respective seating grooves for seating the heel sensor, the front connection part seating part, the main body An auxiliary seating part, a rear connection part seating part, and a heel sensor seating part are provided,
Ends of both ends of the front connection part and both ends of the rear connection part to prevent tension or tension from being transferred to the tow sensor, the heel sensor, or the main body part of the bending part provided in the front connection part or the rear connection part A block-type cable holder that fixes and supports the end of the housing is provided,
Between the tow sensor seating part and the front connecting part seating part, between the front connecting part seating part and the main body part seating part, between the main body part seating part and the rear connecting part seating part, and the rear connecting part seating part and the heel sensor seating part A stepped portion in the form of a jaw or a slot to which the cable holder is fixed is provided, and each of the cable holders provided in the front connection portion and the rear connection portion is fixed to each of the stepped portions,
An overshoes type ground reaction force measuring device, characterized in that further comprising at least one cover member for covering an upper portion of the sensor module. The method of claim 1,
The resistance value of the toe sensor and the heel sensor is changed according to a pressure change applied by the front or rear of the shoe bottom, and the main body of the sensor module senses an output voltage according to the input voltage of the toe sensor and the heel sensor. And a wireless communication module for wirelessly transmitting the detected output voltage or the ground reaction force according to the output voltage to the external device. The method of claim 1,
The external device is an overshoes type ground reaction force measuring device, characterized in that the control device of the wearable robot. The method of claim 2,
The body portion of the sensor module further comprises a power supply for supplying power to the tow sensor, the heel sensor, and the wireless communication module. The method of claim 1,
The housing is an overshoe-type ground reaction force measuring device, characterized in that it comprises an instep support for wrapping and supporting the instep of the shoe and a heel support for wrapping and supporting the heel of the shoe. delete delete delete delete delete delete delete

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