KR20200011006A - Overshoes type device for measuring ground reaction force - Google Patents

Abstract

The present invention relates to an overshoes type ground reaction force measuring apparatus. More specifically, the overshoes type ground reaction force measuring apparatus can be used by users of various foot sizes, can be applied while wearing shoes, and is easy to manage, maintain and replace. The overshoes type ground reaction force measuring apparatus of the present invention comprises: a housing; a main body unit; and a sensor module.

Description

Overshoes type device for measuring ground reaction force

The present invention relates to an oversized floor reaction force measuring device, and more particularly, can be used by users of various foot sizes, and can be applied while wearing shoes, and oversized ground reaction force measurement for easy management, maintenance and replacement. Relates to a 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 walking, and the magnitude and pattern of ground reaction force during walking. Various devices have been developed to analyze walking information.

As an example of the conventionally introduced method, a method of analyzing a magnitude of ground reaction force, a location of a pressure center point, a walking cycle, etc. is performed while walking on a plate on which a force plate for analyzing walking information or walking characteristics is installed. However, since the pressure sensor, such as a piezo or a load cell, must be closely installed in the entire measuring plate, the method is very expensive to enlarge the measuring plate itself, the installation site is very restrictive, and there is a limit to the operation that can be measured.

Another example is a method of attaching a force or pressure sensor module inside a shoe to measure ground reaction force and walking patterns (including walking cycles) during movement, and this method uses a pressure sensor module that can measure pressure. It is a method of measuring the ground reaction force and walking pattern by measuring the repulsive force between a person's foot and shoes by mounting inside.

This method solves the limitations of the method of measuring the ground reaction force using the force plate described above, but the shoe size is selected according to the size of the foot and is configured by mounting a dedicated pressure sensor module for the shoe, There is a problem that it is impossible to apply a single pressure sensor module to shoes of various sizes, and the pressure sensor module has a problem in that durability is poor because a soft material must be used to transmit pressure on the plantar surface.

In addition, when the wear of the shoe or the insole on which the pressure sensor module is mounted is intensified, the pressure sensor module must be discarded together, causing unnecessary waste of cost.

As another example, a sandal-type ground reaction force measuring apparatus including a rigid structure for embedding a pressure sensor such as a load cell has been introduced, but due to the plate member, pain caused by discomfort of the sole during walking And cause abnormal walking and accurate ground reactions cannot be measured, which is also incompatible with foot size.

The present invention is to solve the problem to be provided by the user of a variety of foot size, can be applied in the wearing state of the shoe, the ground-type ground reaction force measuring device easy to manage, maintain and replace.

In order to solve the above problems, the present invention is a housing of a flexible material that is worn to wrap a shoe; And a toe 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 at the rear of the support surface of the shoe bottom of the housing to measure a pressure change in the rear of the shoe bottom. Oversized ground reaction force measurement comprising; a main body unit connected to the tow sensor and the heel sensor, respectively, and transmitting sensing data of the tow sensor and the heel sensor to an external device, the sensor module detachable from the housing; A device can be provided.

The toe sensor, the heel sensor, and the main body may be connected to each other by a flexible front connection part and a rear connection part, respectively, and the main body part may be disposed between the heel sensor and the toe sensor.

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

In addition, at least one cover member may be further provided to cover the top of the sensor module.

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

In addition, the front connection portion and the rear connection portion may include one integrated cable connecting the tow sensor, the heel sensor and the main body, respectively.

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

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

Here, the external device may be a gait analysis device for analyzing the walking operation of the pedestrian wearing the oversized ground reaction force measuring device.

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

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

In addition, the housing may include a foot support for wrapping and supporting the foot of the shoe and a heel support for wrapping and supporting the heel of the shoe.

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

In addition, by applying the housing according to the size of the shoe, the sensor module can be applied to a variety of wearers to share the cost can be reduced and increase the usability.

In addition, the housing surrounding the wearer's shoes or feet and the sensor module can be separated so that the sensor module can be easily separated for maintenance, replacement, charging, etc., and is easy to maintain or manage.

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

1 is a wearing state of the shoe-covered ground reaction force measuring apparatus according to the present invention.
FIG. 2 is a perspective view of the overfoot type ground reaction force measuring device shown in FIG. 1.
FIG. 3 is an exploded perspective view of the overfoot type ground reaction force measuring apparatus shown in FIG. 1.
Figure 4 (a) is a perspective view of the sensor module of the oversized ground reaction force measuring apparatus according to the present invention, Figure 4 (b) shows a perspective view of the support surface on which the sensor module can be seated.
Figure 5 shows a plan view of the support surface of the housing in the state in which the sensor module is seated.
6 (a) and 6 (b) show a partially enlarged perspective view of the housing support surface of the over-the-ground ground reaction force measuring device shown in FIG.
Figure 7 shows a block diagram of a boot type ground reaction force measuring apparatus according to the present invention.
FIG. 8 is a diagram illustrating a walking state in a state of wearing an over-the-ground ground reaction force measuring device shown in FIG. 1.
FIG. 9 illustrates voltage measurement values according to the walking state illustrated 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 just described in detail enough to be easily carried out by those of ordinary skill in the art, which does not mean that the scope of protection of the present invention is limited. Do not. In describing the various embodiments of the present invention, the same reference numerals will be used for the elements having the same technical features.

1 is a diagram illustrating a state of wearing an oversized floor reaction force measuring apparatus according to the present invention, and the oversized ground reaction force measuring apparatus according to the present invention will be described.

Footwear-type ground reaction force measuring apparatus 10 according to the present invention, as shown in Figure 1, the wearer of the shoe (S) is worn in such a way as to wear a shoe to the outside in the state wearing the shoe (S), In this state, the wearer is a device for measuring the pressure on the plantar surface or the ground reaction force according to the walking cycle during walking.

At this time, the shoe (S) can be inserted into the housing 100 is mounted, the front portion of the shoe (s) is inserted into the foot support 110 of the housing 100 is wrapped around the foot of the shoe (s) and supported The heel portion 130 of the shoe s is inserted into the heel portion 130 and is wrapped and supported, and the bottom of the shoe s may be seated on the support surface 120 of the housing 100.

In this state, the wearer is applied with a pressure sensor or the like built in the support surface 120 of the housing 100 in accordance with a walking operation during walking, and detects a change in the pressure of the sensor in response to a change in resistance. Based on the output voltage can be used as data for measuring the plantar pressure or ground reaction force applied to each sensor, or determine the wearer's walking state, walking cycle, walking pattern, and the like.

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

An over-the-ground ground reaction force measuring apparatus 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. The cover member 300 may be configured to cover.

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. Meanwhile, the wearer's foot may be directly worn on the housing 100, and may be worn on the shoe (s) or on the wearer's foot, and is made of a flexible material and is placed on the instep support 110 of the housing 100 from the front area of the toe. After the heel support 130 can be worn to increase the heel portion of the wearer.

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

At least one seating groove 125 through which the sensor module 200 may be seated or detached is formed on the support surface 120 of the housing, and the seating recess 125 may be formed at each angle of the sensor module 200. It is configured according to the configuration, and the sensor module 200 is mounted on the seating groove 125 to cover the cover member 300 to prevent direct contact between the sensor module and the bottom of the shoe to prevent damage or departure of the sensor module. Can be.

4 (a) is a perspective view of the sensor module 200 of the over-the-ground ground reaction force measuring apparatus 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. The sensor module 200 will be described with reference to this.

The sensor module 200 may include a tow sensor 210, a heel sensor 220, a main body 230, a front connection part 215, and a rear connection part 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 a shoe bottom. The toe sensor 210 and the heel sensor 220 may provide pressure change data by the front or the rear of the shoe bottom in a manner in which the resistance is changed according to the pressure change with respect to the input voltage to determine the output voltage.

Here, as described above, the sensor module 200 may be seated in the seating recess 125 of the support surface 120, and in detail, the seating recess 125 of the support surface 120 may include a tow sensor 210. Toe sensor seating portion 125a that can be seated, front connector seating portion 125b on which front connection portion 215 can be seated, body portion seating portion 125c on which body portion 230 can be seated, and rear connection portion The rear connection part mounting part 125d, on which the 225 may be mounted, may include a heel sensor mounting part 125e on which the heel sensor 220 may be mounted.

At this time, each seating portion (125a to 125e) may be formed in accordance with the shape of each configuration (210 to 230) of the sensor module 200 is seated, each configuration (210 to 230) of the sensor module 200 is stable It may be seated as, it is possible to minimize the departure or malfunction of the sensor module 200.

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

The tow sensor 210 is disposed in the front region of the support surface 120 of the housing 100, and measures the pressure change in front of the wearer's foot or the bottom of the shoe.

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

Tow sensor 210 is configured to vary the resistance value according to the pressure, for example may be composed of a piezo sensor, a load cell, a pressure-sensitive pressure sensor (FSR). Therefore, the tow sensor 210 measures the pressure change by the change of the input / output voltage according to the voltage change, and this measuring method will be described later.

The heel sensor 220 is disposed in the rear region of the support surface 120 of the housing 100, and measures the pressure change of 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 main body 230, and the length of the wearer's foot or the structure of the foot is adjusted by adjusting the length of the connection with the tow sensor 210 or by elastic extension or position of the tow sensor 210. It may be configured to be stretchable to be adjusted according to the back.

To this end, the front connection portion 215, as shown in Figure 4 (a), may be provided with a bending portion (not shown) bent at least one or more times, and thus the length adjustment or elastic expansion and the like by the bending portion This may be possible.

The front connection part 215 may be formed of a plurality of cables such as a power line and a signal line, but may be formed of a single cable in which the power line and the signal line are integrated into one cable. For reference, FIGS. 3 to 6 show only examples of integrated cables, but are 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 contractile 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 the deformation of the shoe while walking, the bending part may buffer the deformation amount corresponding to the elongation of the housing.

However, since each sensor may be configured in a thin film or sheet form, it may be easily dislocated or deformed by elasticity or contraction traction applied by a cable or the like.

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

FIG. 6 (a) shows a part in which the cable holder h is mounted in the mounting 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 made of U-shaped, circular or rectangular shape, the structure that can support the cable can be applied without limitation.

In detail, as shown in FIG. 6, the cable holder h may be provided at both ends of the front connection part 215 and the rear connection part 225, and the ends of each connection part 215 and 225 may be fixed. Can be.

In this case, referring to FIG. 6 (a), the front connection part 215 connecting the tow sensor 210 and the main body 230 may use the tow sensor 210 or the main body 230 by its tension or tension. The tow sensor may pull out of the tow sensor 210 or the main body 230 so that the cable holder h mounted on the toe sensor 210 side of the front connection part 215 may be caught and supported. A stepped portion p may be formed between the front connection part mounting part 125b on the seating part 125a side.

As shown in FIG. 6 (b), the cable holder h may be mounted on the stepped portion p, and the cable, that is, the front connection part 215 may be mounted on the housing 100 by the cable holder h. By being supported by the support surface 120 of), tension along the stretch of the front connecting portion 215 may be prevented from being transmitted to the tow sensor 210 or the main body 230.

Similarly, as shown in FIG. 6A, the step portion p is also formed between the main body 230 side of the front connecting portion 215, that is, between the front connecting portion seating portion 125b and the main body mounting portion 125c. As shown in FIG. 6B, a cable holder h is mounted on the step portion p such that the front connecting portion 215 of the housing 100 is formed by the cable holder h. By being supported by the support surface 120, the tension along the stretch of the front connection part 215 may be prevented from being transmitted to the main body 230 or the toe sensor 210.

In the same manner, the heel sensor 220 side and the main body 230 side of the rear connection part 225 are, in other words, between the main body mounting part 125c and the rear connecting part seating part 125d and the rear connecting part seating part 125d. Stepped portion p may be formed between the heel sensor seating portion 125e and a cable holder h may be mounted on the stepped portion p.

Since the movement of the cable holder h is limited by the stepped portion p, the tension according to the expansion and contraction of the bending portion of the rear connection portion 225 may be prevented from being transmitted to the heel sensor 220 or the main body portion 230. In the same way.

The rear connection portion 225 is a configuration corresponding to the front connection portion 215 described above, and a repeated description thereof will be omitted.

Figure 7 shows a block diagram of a boot type ground reaction force measuring apparatus according to the present invention.

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

As described above, the tow sensor 210 and / or the heel sensor 220 may change the output voltage according to the ground reaction force, and the change of the output voltage may be amplified by the op amp 239. .

The voltages output from the tow sensor 210 and the heel sensor 220 may be input to the converter 238 directly or through an amplifier 239, and the converter 238 transmits a signal transmitted from the sensor to the controller 232. Can be digitally converted for processing.

The converter 238 may be an ADC for converting an analog signal into a digital signal, and may convert the output voltage from a sensor input in real time to a digital signal.

The controller 232 may 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 may convert the converted electrical signal. The external device 400 may be wirelessly transmitted. At this time, 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 may provide a change in the voltage value of the tow sensor 210 and / or the heel sensor 220 to an external device, and may analyze the walking motion, the walking pattern, etc. in the external device 400. It 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 a pressure is applied, and the external device having received the pressure change data may correspond to the tow sensor 210 or accordingly. The heel sensor 230 may determine whether the toe and the heel of the wearer's foot are grounded, ground reaction force (or plantar pressure), or walking cycle.

On the other hand, the external device 400 receiving the communication signal may be a gait analysis device 420 for analyzing the walking operation of the pedestrian wearing the overfoot type ground reaction force measuring device of the present invention. The gait analysis device 420 may be a computer or tablet with a gait analysis program installed, or may be a dedicated device for gait analysis.

The gait analysis device 420 is based on the data transmitted through the wireless communication module 236 of the main body 230, whether the toe and heel of the two feet, ground reaction force (or plantar pressure) or walking in the area The data can be used to determine the walking cycle, walking pattern, or walking specificity of the pedestrian.

In addition, the external device 400 may be a control unit 410 of the wearable robot including the overfoot type ground reaction force measuring apparatus of the present invention. Accordingly, the controller 410 determines whether the toe and the heel of the pedestrians are grounded and walked on the basis of the data transmitted through the wireless communication module 236 of the main body unit 230, and assists each joint. Alternatively, the actuator for providing the auxiliary torque can be controlled to appropriately assist each joint, thigh, and lower leg according to the walking cycle.

That is, the wearable robot may cause injury to the wearer or provide pain to the wearer's body when providing simple repetitive assistance while ignoring the wearer's walking cycle. Proper support should be provided for joints. Therefore, it is possible to apply the over-the-ground ground reaction force measuring apparatus according to the present invention to determine the walking cycle can be utilized as the control information of the driving device or driver of the wearable robot.

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

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

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

First, in the state illustrated in FIG. 8A, the left foot may be in the initial foot position of the left foot where the heel area of the left foot touches the ground.

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

Therefore, when the left foot is applied with pressure to the left foot heel sensor 220 in the initial stator driving state, the resistance of the heel sensor is drastically lowered, and thus, as shown in the blue graph (voltage value of LH) at around 0.1 second in FIG. 8. A sudden increase in voltage may occur, and thus the controller 232 or the external device 400 may determine that the wearer's left foot is an initial stance.

On the other hand, as shown in Figure 8 (b) and Figure 8 (c), the wearer enters the medium standing position in contact with the ground so that the (left) foot is in contact with the ground as a whole, the left foot heel sensor as the middle standing position progresses As the pressure applied to the pressure decreases, the resistance value changes accordingly, and the voltage value decreases as shown in the blue graph (voltage value of LH) in the vicinity of 0.1 second to 0.4 second in FIG. And the resistance of the toe sensor is lowered so that the output voltage of the left toe sensor can be increased as shown in the red graph (voltage value of LT) in the vicinity of 0.1 second to 0.4 second in FIG.

That is, in the mid-term stance machine, the weight may be distributed over the entire foot and pressure may be distributed to each sensor, so that the walking period may be determined according to the output voltage of each sensor.

Subsequently, as shown in FIG. 8 (d), when the heel of the left foot reaches the late stance when the heel falls off the ground while being in contact with the ground, the pressure applied to the heel sensor is removed to increase the heel sensor resistance. It will increase to the default value, causing the output voltage to rapidly converge to zero. On the other hand, the pressure applied to the toe sensor of the left foot is maximum, and the output voltage of the left toe sensor at that time may be maximum.

Thereafter, although not shown, the wearer's left foot enters the swinging stage swinging in the air, and accordingly, since no pressure is applied to the heel sensor and the toe sensor on the left foot side, in FIG. As shown, a blue graph (voltage value of LH) and a red graph (voltage value of LT) may appear to be near zero.

In addition, in the test result illustrated in FIG. 9, the change mode of the voltage values of the right foot heel sensor and the toe sensor is different from the change mode of the voltage values of the left foot heel sensor and the tow sensor. If the sensor module is not a malfunction, it may be assumed that there is a difference in walking styles or habits of the left and right feet or the weight distribution between the left and right feet is not uniform due to a disability or injury.

In other words, the wearable robot may be controlled by diagnosing that the wearer has difficulty in walking the right leg as compared to the left leg and providing greater assistance to the right hip, knee joint, and the like of the wearable robot.

In this way, the walking cycle, the walking state, etc. may be determined, but the determination method illustrated here is merely one example, and the walking state or walking cycle may be determined by combining clinical or other algorithms and ergonomic judgments related to walking. Of course.

The overshoes-type ground reaction force measuring device according to the present invention has been described above. Therefore, the wearer is made of a flexible material housing by wearing the overshoes-type ground reaction force measuring device, regardless of the size of the foot and the type of shoes. It can be easily worn and used, and various sizes of housings can be applied to the sensor module to minimize costs and maximize utilization.

In addition, it is possible to wear shoes, etc. The body-type floor reaction force measurement device may not be in direct contact with the skin, so that various materials can be applied when selecting the material of the wearing part, and the housing and sensor module surrounding the wearer's shoes or feet It can be easily detached for maintenance, replacement, charging, etc. of the sensor module for easy maintenance or management, branching of the sensor module from the housing, and collecting information measured from the sensor module by wire or wirelessly. This makes it possible to use an oversized ground reaction force measuring device which can be applied to various solutions.

As described above, the overshoe-type ground reaction force measuring apparatus according to the present invention has been described, but those skilled in the art to which the embodiments belong may be embodied in other specific forms without changing the embodiments to technical spirit or essential features. I can understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

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

Claims (12)

A housing made of a flexible material worn to wrap the shoe; And,
A toe sensor disposed in front of the support surface of the shoe bottom of the housing to measure 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 in the rear of the shoe bottom, the tow And a sensor module connected to a sensor and the heel sensor and transmitting sensing data of the tow sensor and the heel sensor to an external device, the sensor module detachable from the housing. The method of claim 1,
And the toe sensor, the heel sensor, and the main body are respectively connected to each other by a flexible front connection part and a rear connection part, and the main body part is disposed between the heel sensor and the toe sensor. The method of claim 2,
At least one seating groove for measuring the toe sensor, the front connection part, the main body part, the rear connection part and the heel sensor is formed on the support surface of the shoe bottom of the housing. Device. The method of claim 2,
An overshoe-type ground reaction force measuring apparatus further comprising at least one cover member for covering the sensor module. The method of claim 1,
The toe sensor and the heel sensor are changed in resistance according to a pressure change applied by the front or rear of the bottom of the shoe, and the main body of the sensor module detects an output voltage according to an input voltage of the toe sensor and the heel sensor. And a wireless communication module for wirelessly transmitting the ground reaction force according to the sensed output voltage or the output voltage to the external device. The method of claim 1,
And the front connection part and the rear connection part each include an integrated cable connecting the tow sensor, the heel sensor, and the main body part. The method of claim 6,
Wherein the integrated cable is a ground-type reaction force measuring apparatus, characterized in that it comprises a bending portion that is bent at least once so that the length adjustment or elastic expansion and contraction of the front connection portion and the rear connection portion. The method of claim 7, wherein
The cable is connected to at least one end of the front connection part and the rear connection part to prevent the tension along the stretch of the front connection part and the rear connection part by the bending part from being transmitted to the tow sensor, the main body part, or the heel sensor. An oversized ground reaction force measuring device, characterized in that a cable holder for supporting the housing. The method of claim 1,
And wherein the external device is a control device of a wearable robot. The method of claim 1,
The external device is an overfoot type ground reaction force measuring device, characterized in that the gait analysis device for analyzing the walking motion of the pedestrian wearing the oversized floor reaction force measuring device. The method of claim 5,
The body part of the sensor module is further characterized in that the tow sensor, the heel sensor and the ground type reaction force measuring device further comprising a power supply for supplying power to the wireless communication module. The method of claim 1,
The housing is an overfoot-type ground reaction force measuring device, characterized in that it comprises a foot support for supporting the wrapped around the foot of the shoe and a heel support for supporting the heel of the shoe.

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