WO2015121690A1 - Dispositif de mesure de rendement physique et de sortie de puissance de course, de marche et d'autres mouvements d'un être humain en watts, et procédé pour son utilisation, application, et procédés - Google Patents

Dispositif de mesure de rendement physique et de sortie de puissance de course, de marche et d'autres mouvements d'un être humain en watts, et procédé pour son utilisation, application, et procédés Download PDF

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Publication number
WO2015121690A1
WO2015121690A1 PCT/HU2014/000104 HU2014000104W WO2015121690A1 WO 2015121690 A1 WO2015121690 A1 WO 2015121690A1 HU 2014000104 W HU2014000104 W HU 2014000104W WO 2015121690 A1 WO2015121690 A1 WO 2015121690A1
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WO
WIPO (PCT)
Prior art keywords
central
unit
measuring
shoe
data
Prior art date
Application number
PCT/HU2014/000104
Other languages
English (en)
Inventor
Sándor Erdélyi
Imre ERDÉLYI
Original Assignee
Sándor Erdélyi
Imre ERDÉLYI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sándor Erdélyi, Imre ERDÉLYI filed Critical Sándor Erdélyi
Publication of WO2015121690A1 publication Critical patent/WO2015121690A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B3/00—Footwear characterised by the shape or the use
    • A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
    • A43B3/38—Footwear characterised by the shape or the use with electrical or electronic arrangements with power sources
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6804—Garments; Clothes
    • A61B5/6807—Footwear
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2503/00—Evaluating a particular growth phase or type of persons or animals
    • A61B2503/10—Athletes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/09—Rehabilitation or training
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait

Definitions

  • the subject matter of our invention is a device apt for measuring physical efficiency and power output of human running, walking or other motion generated by forces exerted by the lower extremity, which is a combination of at least one measuring device that can be placed in or on a shoe or on the sole, a central measuring device that performs data transmission with the former, and accelerometers and sensors suitable for measuring various physical parameters.
  • Another subject matter of our invention is a method for the application of the device apt for measuring physical efficiency and power output of human running, walking or other movement generated by forces exerted by the lower extremity.
  • power output measuring devices in the field - among others - of sport or orthopaedics, which are used for measuring walkers or runners. Such methods are, among others, time measuring with stopwatch, distance measuring, speed measuring, acceleration measuring, step counting, pulse counting, blood pressure metering, video record analysing, etc.
  • a common feature of these measurements is that none of them measures power output as it is defined in physics, but rather some sort of achievements and/or physiological features.
  • the aim of our invention is the elimination of the deficiencies of solutions presented so far, and the creation of a device and a method that measures the work done and the momentary power output expended by a runner or walker.
  • W F * s
  • P F * v .
  • a device For measuring power output, a device is needed that is able to measure the components of force F that arises between the sole and the ground when one walks or runs, which are F x that is heading the direction of movement, Fy that is sideway perpendicular to F x and F z which is perpendicular to the plane of the former two, and to measure motion as it proceeds, and the components of velocity vector v, namely v x , Vy and v z possibly at or close to the centre of the mass.
  • a display accessory connected to our device can show the power output or other data measured. At least 200 measurements per second are targeted to ensure accuracy, although this number could be increased or decreased dependently upon the aim of measuring. Another objective is that the results measured could be used for calculating not only power output but also work done.
  • Work done can be calculated like power output, when velocity vector is replaced by displacement vector.
  • the method should be apt for utilisation in sports, locomotion rehabilitation, motion studies, or physiological researches.
  • Important aims are the measuring of three-dimensional forces emerging in the plane where the sole contacts the ground as the sole is rolling in the course of walking or running, measuring the path of locomotion and characteristics of this path such as distance and velocity, measuring the angle between the direction of the foot and the direction of movement, furthermore the calculation of power output, work done and efficiency.
  • the inventors' activity is based on the perception that the accurate determination of the momentary power output inevitably necessitates the measuring of the force and the work done as well as the angle of incline of the foot, and the joint handling of the resulting data-triplets.
  • Power output can be measured if we know the components of force F that arises between the sole and the ground when one walks or runs, which are F x heading the direction of movement, Fy sideway perpendicular to F x and F z which is perpendicular to the plane of the former two, as well as the velocity data.
  • the components of velocity vector v namely v x , Vy and v z should be measured possibly at or close to the centre of the mass.
  • This device is suitable for measuring physical efficiency and power output of human running, walking or other movement generated by forces exerted by the lower extremity, which is a combination of at least one measuring device that can be placed in or on a shoe and/or on the sole, a central measuring device that performs data transmission with the former, and accelerometers and sensors suitable for measuring various physical parameters.
  • a characteristic feature of the invention is an arithmetic unit apt for calculating motion's physical data;
  • the measuring unit is made up of a shoe unit that should measure the components of the force emerging on the plane where the sole contacts the ground; this shoe unit contains transceiver unit and battery; furthermore the central measuring unit is composed of a central unit fastened close to the centre of the mass, apt for capturing velocity data; and this central unit contains a central transceiver unit and a central battery.
  • Another possible design is when the central unit contains a central data storage unit, and the shoe unit contains a data storage unit. Also, a possible design is when the central unit is completed with a computer and/or info-communication device.
  • force measuring sensors placed on or in the shoe and/or on the sole measure the components of forces emerging on the plane where the sole contacts the ground
  • the central accelerometer that form part of the central unit measures the velocity vector of the centre of the mass of the user
  • Fig. 1 lateral view of a human body with units fastened
  • Fig. 2/a lateral view of a human body in motion with axes and directions relative to it
  • Fig. 2/b. axonometric chart of a shoe featuring various vectorial components of the force
  • Fig. 3/a is the lateral view of the shoe and the units of the device located thereon
  • Fig. 3/b. is the bottom view of the shoe and the units of the device located thereon
  • Fig. 4/a is the lateral view of the shoe and the units of the device located thereon, during a step cycle
  • Fig. 4/b is the bottom view of the shoe and the units of the device located thereon, during a step cycle
  • Fig. 4/c illustrates the forces and their components
  • Fig. 5 illustrates the configuration of the shoe unit and the central unit.
  • Fig. 1 presents a runner in shoes 21 equipped with force measuring sensors 23 and supplied with a central unit 46. Data transmission 2 is performed between the central unit 46 and the unit fastened to the shoe 21.
  • the central unit 46 should capture the results of all three measurements and in any given case should correct calculations dependently upon the type of motion.
  • This chart visualises the fact that the useful work done and the momentary power output exerted by a runner or a walker is the product of v x velocity vector 14 parallel with the direction of movement and F x vector 1 exerted parallel with them. These components are measured in such manner that the force measuring sensors 23 fastened on the shoes 21 take a series of measurements thereby measuring as a vector F x force 1 emerging on the sole of the user and v x velocity vector 14.
  • Fig. 2/a presents data to be measured and the places where they are measured. Force data and velocity data necessary for measuring power output could be measured at the foot respectively at the centre of mass 17.
  • This figure in alteration of the previous one shows not only those base data that are necessary for calculating the useful power output but also those necessary for calculating effectless power output not serving locomotion, in other words: the power dissipation.
  • the component pointing to direction x interpreted in the coordinate system 12, i.e. the v x velocity vector 14 has a direction identical with that of the direction of movement 13. Running is most efficient when the path of the locomotion 10 of the centre of mass 17 of the runner coincides with the direction of movement 13.
  • Acceleration measured by us can be interpreted alongside the path of the locomotion 10.
  • the first integral of the acceleration at a given point of the path of the locomotion 10 of the centre of mass 17 will be the tangent that meets the path at that point.
  • Such tangent at the same time is the velocity vector 16 that can be decomposed along the axes of a coordinate system 12 used for measuring forces when its origin is moved to the centre of mass 17 thereby arriving at velocity vector v x 14 and v y , and v z .
  • Fig. 2/b shows an axonometric image of the shoe 21.
  • feet exert forces F 15 to propel locomotion and these forces emerge on the plane where the foot contacts the ground.
  • These forces when they are illustrated in coordinate system 12 point to directions x, y and z, where axis x points to the direction of motion, axis y is perpendicular to x and is within the contact plane 1 1 , whilst z axis is perpendicular to both and points upwards.
  • Our device is able to measure the components of force F 15 emerging during motion between the sole and the ground, namely F x 1 pointing to the direction of movement 13, F y 18 sidewise perpendicular to F x and F z 19 perpendicular to their plane.
  • Fig. 3/a is the lateral view of a shoe 21 forming part of the power output measuring device.
  • Force measuring sensors 23 are in discretional number fastened to the sole 22 of the shoe 21.
  • Fig. 3/b is the bottom view of the sole 22 of the shoe 21 equipped with force measuring sensors 23.
  • the accelerometer 25 and the radial angle meter 26 fastened on the sole 22 of the shoe 21 take measurements on the basis of data produced by force measuring sensors 23.
  • the force measuring sensors 23 are connected through expediently designed wires 28 to the shoe unit 41.
  • the toe of the shoe 21 points to the direction of the longitudinal axis 27.
  • Figs 4/a and 4/b show the lateral and the bottom view of a shoe 21 equipped with our devices as it walks.
  • force measuring sensors 23 were fastened to several points of the sole 22 of a shoe 21, and the data produced by all of the active force measuring sensors 31 will be taken into consideration in the calculation of the power output.
  • a force measuring sensor 23 is an active force measuring sensor 31 when during the locomotion it is actually contacting the ground, thus there is a contact plane 1 1 where a coordinate system 12 with its origin in the centre of the sensor can be interpreted. Forces are interpreted only in the contact plane, separately for each active force measuring sensor 31 , in their respective coordinate systems. In order to avoid any computation error that could be caused by the inclination of the foot, the results should be corrected with the angle between the direction of movement 13 and axis x of the given sensor or the longitudinal axis 27 of the shoe worn.
  • Fig. 14/c shows that the direction of movement 13 does not coincide with the longitudinal axis 27 of the foot or the shoe. There is an angle of incline 32 between these two lines. In the course of calculations, this angle of incline 32 will also be determined.
  • the feet exert forces F 15 to propel locomotion. From the aspect of power output, only the forces exerted towards the direction of movement 13 are deemed to be useful, because those serve for the forward locomotion of a ainner or walker; the upward force serves for supporting the body and the lateral forces serve mostly the maintenance of the balance.
  • a condition of the calculation of the power output is that we could be familiar with and could calculate two components of force F 15 emerging in between the sole and the ground, namely F x 1 pointing to the direction of movement 13 and F y 18 that is sidewise perpendicular to that.
  • Fig. 5 illustrates the positioning of the shoe unit 41 and the central unit 46 and the connections among various components.
  • the shoe unit 41 should reasonably be composed of at least a data storage unit 42, an arithmetic unit 43, a transceiver unit 44 and a battery 45.
  • the arithmetic unit 43 of the shoe unit 41 assigns the data so measured with identifiers that typically are codes identifying the measuring moment and sensor. Data are stored in the data storage unit 42 together with these identifiers.
  • the arithmetic unit 43 can perform mathematical processes with data produced by the accelerometer 25, the radial angle meter 26 and the force measuring sensors 23.
  • the data storage unit 42 temporarily stores measured and processed data. It may form part of a microprocessor or may be installed in an independent storage circuit.
  • the arithmetic unit 43 will send data packages via the transceiver unit 44.
  • the transceiver unit 44 and all electronic circuits are miniaturised and do not interfere with motion.
  • the electronic circuit of the central unit 46 should reasonably be composed of a central data storage unit 47, a central arithmetic unit 48, a central transceiver 49 and a central battery 50.
  • the central unit 46 can through the central transceiver 49 request measured and/or processed data. Also, it will control the operation of the central accelerometer 51 and the central radial angle metering sensor 52, will assign the measured data with identifying codes, and temporarily store them in the central data storage unit 47.
  • the arithmetic unit 43 and the central arithmetic unit 48 can be suitable micro-circuits, micro-processors or micro-controllers or other logic circuits.
  • the data storage unit 42 may form part of a microprocessor but might be installed in an independent storage circuit.
  • the central arithmetic unit 48 will perform the appropriate operations and capture the processed power and other data in the storage unit.
  • An expedient design of the central data storage unit 47 is an internal memory; another possible design uses a replaceable data media.
  • the central unit 46 is responsible for capturing and synchronising measured results and perform further computation and data processing tasks if necessary.
  • the power output measuring device will be equipped with the shoe unit 41 that can be fastened on the shoe 21 and with a central unit 46 that could be fastened close to the waist.
  • Data necessary for taking measures are produced by the force measuring sensors 23, accelerometer sensors 25 and radial angle meter sensors 26 fastened on or in the shoe 21 , and at least one central accelerometer sensor 51 installed in the central unit 46.
  • Force measuring sensors 23 are fastened at several points of the sole 22 of the shoe 21 , and the data produced by all active force measuring sensors 3 1 will be taken into consideration when the power output data is computed. Measurements will be taken with the help of direction data determined with force measuring sensors 23, 31 , accelerometer 25 and radial angle meter 26.
  • Measurements could be acquired simultaneously, or in a succession with a frequency that does not interfere with the accuracy of the calculations, or there is a third method wherein the forces simultaneously exerted on the active force measuring sensors 31 are estimated by way of interpolating the results produced by successive measurements.
  • There is a fourth method where data are sampled in a manner that is characteristic of digital devices and by way of approximate calculations a continuous function is fitted to the data sampled, and mathematical operations can be performed at any given point of such function. Increased number of sensors will improve accuracy. Accuracy of the computations can be further improved if the device is supplemented with an arithmetic unit located not on the body. Also, our device can be completed with computer or info-communication device, e.g.
  • the central unit 46 can be supplemented with a displaying device, a video monitor for instance.
  • identifiers e.g. code identifying the measuring moment and sensor
  • Data together with such identifiers are stored in the data storage unit 42.
  • the arithmetic unit 43 installed in the shoe unit 41 can determine the direction of movement 13 and - by way of identifying active force measuring sensors 31 - the contact plane 1 1 between the sole 22 and the ground, and can then determine the momentary coordinate system 12.
  • the active force measuring sensors 31 acquire measurements roughly simultaneously, and data of forces pointing to the same direction are added up by the arithmetic unit 43.
  • the best results can be achieved when measurements are broken down to small dots distributed over the entire surface of the sole 22, and the force measuring sensors 23 are installed at appropriately selected points, for instance at the end of toes, under the ball of foot, the heel or the lateral part of the foot.
  • Our device can be operated with one single force measuring sensor 23, but sensors should expediently be installed at as many points as is necessary for precisely measuring forces distributed on the entire surface of the sole.
  • the accelerometer 25 and the radial angle meter 26 installed in the shoe 21 produce basic data necessary for the determination of the angle of incline 32 of the foot.
  • the central unit 46 captures the results of all measurements and dependency on the type of the motion, calculations may be corrected.
  • forces can be corrected through a mathematical transformation: rotation around the origin.
  • velocity is measured with a tri-axial central accelerometer 51 placed on the median pointing to the direction of movement 13, which intersects or passes close to the centre of mass 17.
  • at least one accelerometer should be fastened anywhere on the body, provided that the movement of the centre of gravity and the direction of movement can be computed from the measurement results with appropriate mathematical procedures.
  • the pace of measurements is adjusted to the pace of force measurements, or the measuring devices can be synchronised through continuous functions fitted to sampled data.
  • the computations performed by the appropriately programmed central arithmetic unit 48 will separate vertical and horizontal extremes, determine the direction of movement 13 and the velocity vector 16. In the course the calculations we utilise the cyclically of locomotion. If the central accelerometer 51 could not be placed on the appropriate median, or if the type of the motion is such that the direction of movement changes continuously, then the movement of the centre of mass 17 can be estimated from the results produced by the central accelerometer 51 or the central radial angle meter 52 or from the combination of those results.
  • two, three or more accelerometers and/or radial angle meters can be fastened on a belt, at appropriate distances from each other, and with the help of the acceleration or angle data computed by us we can calculate a centre that will define the centre of mass 17 located within the body. With customary mathematical procedures, the path of the locomotion 10 is transformed to the centre of mass 17 and this will be used for those calculations that are based on the centre of mass 1 7. Further calculations can be grounded on base data and computed data, for instance statistics can be compiled, or these data could be collated with other environmental or physiological data. Dependently upon the aim of the measurement, we can observe the two feet separately or together, the walking or the running, furthermore we could analyse and evaluate data. A step could be broken down to small phases, or statistics could be elaborated for an entire step cycle or for several steps or for a given duration measured.
  • the device described herein has several advantages.
  • One of the advantages offered by our invention is that it assists in the interpretation of several things, for instance the momentary power output characterising a given point; changes in the momentary power output which means a series of comparisons among the measuring points as the foot is rolling; average power output during the rolling phase, which is the weighted or other arithmetical average of the momentary power outputs; the power output of a step-pair or the average output on a longer distance. All these can further be analysed with the use of further mathematical statistical methods. It is advantageous when the velocity vector is replaced with the dislocation vector, in this case the work done can be calculated similarly to the power output.
  • Another advantage of our device is that the number and location of sensors is discretional and depend upon the aim of the application, the available space, the costs and the technical level to be applied, and other considerations, and should be conceptualised during designing a given product.
  • this device can be tailored to individual needs, is available for large layers of the society and can better be utilised. For instance, if accuracy should be improved, the units can be supplied with more sensors.
  • our device can be extended or its capacities can be enlarged by supplementing it with a computer or an info- communication device (e.g. smart phone).
  • a beneficial feature is that data can be transmitted in the radio-frequency range to a smart phone, a computer, directly to the internet, or any other discretionally selected device and could be processed there further.
  • Radial angle meter and accelerometer sensors can be operated according to several physical principles, thus they can measure pressure, tension, bending, dislocation or acceleration with optic, magnetic, capacitive, ultrasound, inertia or any other principle; the essential thing is that the data produced by the sensors of the accelerometer and the radial angle meter could precisely produce the angle between the foot and the direction of motion, which is necessary for force measurement. The same beneficial feature can be found at the force measuring sensors. As long as the force data produced by the force measuring sensors provide base data for measuring power output, the physical principle used for the operations does not matter. A further advantage is that devices can be grouped, concatenated, replaced, extended or diminished in several ways.

Abstract

L'invention concerne un dispositif pour mesurer le rendement physique et la sortie de puissance de course, de marche ou d'autres mouvements d'un être humain, qui comprend au moins un dispositif de mesure fixé dans ou sur une chaussure (21) et/ou sur sa semelle (22), et un dispositif central de mesure qui réalise une transmission de données (2) avec ce dernier, et un accéléromètre (25, 51) et des capteurs (23, 31) appropriés pour mesurer divers paramètres physiques. L'invention concerne également un procédé pour l'application du dispositif de mesure de rendement physique et de sortie de puissance de course, de marche ou d'un autre mouvement d'un être humain, causé par des forces exercées par l'extrémité inférieure. Une caractéristique de l'invention est qu'elle présente une unité arithmétique (43, 48) pour calculer des données physiques de mouvements ; un dispositif de mesure qui comprend une unité de chaussure (41) qui est responsable de la mesure des composantes de la force (15) débouchant sur le plan de contact (11) entre la semelle (22) et le sol ; l'unité de chaussure (41) contient une unité d'émetteur-récepteur (44) et une batterie (45) ; en outre, le dispositif central de mesure comprend une unité centrale (46) fixée à proximité du centre de la masse corporelle (17), qui peut capturer des données de vitesse ; cette unité centrale (46) comprend un émetteur-récepteur central (49) et une batterie centrale (50). FIG.1 est considérée comme caractéristique.
PCT/HU2014/000104 2014-02-16 2014-11-17 Dispositif de mesure de rendement physique et de sortie de puissance de course, de marche et d'autres mouvements d'un être humain en watts, et procédé pour son utilisation, application, et procédés WO2015121690A1 (fr)

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Application Number Priority Date Filing Date Title
HUP1400078 2014-02-16
HU1400078A HUP1400078A2 (hu) 2014-02-16 2014-02-16 Eszköz és eljárás az emberi járás vagy futás fizikai értelemben vett teljesítményének és munkájának mérésére

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WO2018087654A1 (fr) 2016-11-08 2018-05-17 Myotest Sa Procédé et système de détermination de la puissance développée par un coureur
CN108936942A (zh) * 2018-06-11 2018-12-07 广州博鳌健康产业研究院（有限合伙） 一种用于智能鞋的压力传感方法和装置
WO2019168415A1 (fr) 2018-03-02 2019-09-06 Resonance Management And Consulting Limited Système et procédé de détermination de l'efficacité de puissance et de propulsion d'un membre pendant une propulsion par un membre
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018087654A1 (fr) 2016-11-08 2018-05-17 Myotest Sa Procédé et système de détermination de la puissance développée par un coureur
WO2019168415A1 (fr) 2018-03-02 2019-09-06 Resonance Management And Consulting Limited Système et procédé de détermination de l'efficacité de puissance et de propulsion d'un membre pendant une propulsion par un membre
EP3758604A4 (fr) * 2018-03-02 2021-11-24 Vibe Technologies Limited Système et procédé de détermination de l'efficacité de puissance et de propulsion d'un membre pendant une propulsion par un membre
CN108936942A (zh) * 2018-06-11 2018-12-07 广州博鳌健康产业研究院（有限合伙） 一种用于智能鞋的压力传感方法和装置
CN110313915A (zh) * 2019-06-20 2019-10-11 东北大学 一种压电自供能的老人足部健康监测系统

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