CN104605569A - Intelligent pressure acquiring shoe based on film sensors - Google Patents
Intelligent pressure acquiring shoe based on film sensors Download PDFInfo
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- CN104605569A CN104605569A CN201510060041.4A CN201510060041A CN104605569A CN 104605569 A CN104605569 A CN 104605569A CN 201510060041 A CN201510060041 A CN 201510060041A CN 104605569 A CN104605569 A CN 104605569A
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- thin film
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- shoe
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Abstract
The invention discloses an intelligent pressure acquiring shoe based on film sensors. The shoe comprises an upper shoe board (1), a lower shoe board (2) and the film sensors (3), wherein multiple tacks (4) are arranged on the lower surface of the lower shoe plate (2), a groove (5) is formed inside each tack (4), a spring device (6) is installed in each groove (5), each film sensor (3) is installed on the upper surface of each spring device (6) and is covered with a plastic gasket (7), the upper shoe board (1) and the lower shoe board (2) are aligned and attached to form a shoe body, the plastic gaskets (7) are pressed between the upper shoe board (1) and the lower shoe board (2), and the data wires of the film sensors (3) are lead out through the heel of the shoe. The shoe has the advantages of being long in service life, low in cost and capable of acquiring ground reaction force accurately.
Description
Technical field
The present invention relates to the pressure acquisition of exoskeleton robot stable state, particularly a kind of intelligent pressure of based thin film sensor gathers footwear.
Background technology
ZMP algorithm is widely used in robot field the stable state determining robot.The requirement of this algorithm is the reaction force accurately measuring ground.
The existing measurement to foot force has two kinds:
One is dynamically analyzing robot, measures the acceleration of all directions with attitude instrument, by calculating the change of trying to achieve pressure.This kind of method calculation of complex, to simple robot still can, but for the exoskeleton robot be combined with ectoskeleton, its dynamic characteristic wants complicated many, in the process of computational process and the collection of multi-pose sensor, there will be comparatively big error.Needed for the dynamic characteristic simultaneously will determining each position, the quantity of attitude transducer is more, and to sensitivity and precise requirements high, make design cost high.
Two is be placed at the bottom of robot foot by pressure sensor.This design, if based on ectoskeletal exoskeleton robot, just needs the special shoes making collection plantar pressure.This kind of shoes according to body mechanics's principle, must can reflect the real-time change situation of foot force in different gait comprehensively.Some footwear design become level land, the reaction force of Dou Shou bottom surface, so whole bottom surface, and the force value of certain point only measured by pressure sensor, is obviously coarse.What have is placed in shoe-pad position by diaphragm pressure sensor, and it measures gained pressure except aforesaid inaccuracy, just measures the reciprocal force of pin and shoes especially, instead of ground is in the face of the reaction force of whole system.
Devise intelligent pressure based on above situation and gather footwear.But the selection of sensor and setting are difficult points.Require: 1, the range of sensor to meet want; 2, the sensitivity of sensor and accuracy want high; 3, sensor bulk is little, easily installs.
The popular available sensor of existing market has LOAD CELLS and film type sensor.For LOAD CELLS, its volume is relatively large, and be loaded in the shoe tack groove of intelligent shoe more difficult, permanent use is easily damaged by pressure, and the design of shoe tack is complicated, and quantities is large.Therefore need to adopt diaphragm pressure sensor, not fragile, conveniently place and fix, simple to operate.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, provide a kind of long service life, cost low and can precise acquisition to the based thin film sensor of ground reaction force intelligent pressure collection footwear.
Object of the present invention is achieved through the following technical solutions: a kind of intelligent pressure of based thin film sensor gathers footwear, it comprises footwear plate, lower footwear plate and thin film sensor, the lower surface of described lower footwear plate is provided with multiple shoe tack, groove is offered in shoe tack inside, one spring assembly is installed in described groove, described thin film sensor is arranged on spring assembly upper surface, and thin film sensor is covered by a plastic cement pad, described upper footwear plate and lower footwear plate alignment laminating formation one footwear body plastic cement pad is pressed together on, between lower footwear plate, the data conductor of described thin film sensor derives in shoes rear heel.
Described shoe tack and lower footwear plate are one of the forming, and shoe tack is cylinder, and the groove in shoe tack is also cylinder cell body, and the degree of depth of groove is 3mm, and diameter is 20mm.
Also be provided with a baffle between described spring assembly and bottom portion of groove, baffle is cylinder.
Groove in described shoe tack is arranged at the sole sensitizing range that common people walk shape state.
Described thin film sensor has a rubber washer, and in the groove that rubber washer press-in is corresponding, and the height of rubber washer is 3mm, and diameter is 20mm.
The upper surface of described plastic cement pad and lower footwear plate is directly cemented by glue.
Described upper and lower footwear plate all adopts common elastomeric material to make.
The present invention has the following advantages: intelligent pressure of the present invention gathers footwear and has the following advantages:
One, technique is simple, and cost of manufacture is low;
Two, pressure data directly reacts ground reaction force, thus makes thin film sensor energy precise acquisition to ground reaction force;
Three, thin film sensor position is fixing relatively more firm, and not yielding and slip, improves the measuring accuracy of thin film sensor;
Four, select diaphragm pressure sensor to be not easy because sole damages with dynamic deformation, thus improve the service life of these collection footwear.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is schematic front view of the present invention;
Fig. 3 is partial schematic sectional view of the present invention;
Sole sensitizing range distribution map when Fig. 4 is ordinary people's ambulatory status;
In figure, the upper footwear plate of 1-, footwear plate under 2-, 3-thin film sensor, 4-shoe tack, 5-groove, 6-spring assembly, 7-plastic cement pad, 8-baffle, 9-rubber washer.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described, and protection scope of the present invention is not limited to the following stated:
As Fig. 1, shown in Fig. 2 and Fig. 3, a kind of intelligent pressure of based thin film sensor gathers footwear, it comprises footwear plate 1, lower footwear plate 2 and thin film sensor 3, the lower surface of described lower footwear plate 2 is provided with multiple shoe tack 4, groove 5 is offered in shoe tack 4 inside, one spring assembly 6 is installed in described groove 5, in the present embodiment, between bottom described spring assembly 6 and groove 5, a baffle 8 is also installed, baffle 8 is cylinder, baffle can be played a supporting role to spring assembly 6, also shoe tack 4 and groove 5 can be protected not to be pushed up bad by spring assembly 6 simultaneously, thus improve the service life of these collection footwear, described thin film sensor 3 is arranged on spring assembly 6 upper surface, and thin film sensor 3 is covered by a plastic cement pad 7, in the present embodiment, described plastic cement pad 7 is directly cemented by glue with the upper surface of lower footwear plate 2, preventing that deformation occurs in motion process makes thin film sensor 3 position change, thus affect the measuring accuracy of thin film sensor 3, described upper footwear plate 1 and lower footwear plate 2 alignment laminating formation one footwear body plastic cement pad 7 is pressed together on, lower footwear plate 1, between 2, the data conductor of described thin film sensor 3 derives in shoes rear heel.
In the present embodiment, described shoe tack 4 is one of the forming with lower footwear plate 2, avoid the shift phenomenon being connected not firm caused thin film sensor between shoe tack 4 with lower footwear plate 2, thus improve the measuring accuracy of thin film sensor, shoe tack 4 is cylinder, groove 5 in shoe tack 4 is also cylinder cell body, and the degree of depth of groove 5 is 3mm, and diameter is 20mm.
In the present embodiment, as shown in Figure 4, the groove 5 in described shoe tack 4 is arranged at the sole sensitizing range that common people walk shape state, after deliberation surface, and human body is when ambulatory status, and sole sensitizing range is the A1 ~ A6 region in Fig. 4.
In the present embodiment, described thin film sensor 3 has a rubber washer 9, rubber washer 9 is pressed in corresponding groove 5, and the height of rubber washer 9 is 3mm, diameter is 20mm, when thin film sensor 3 is subject to shoe tack 4 pressure, if force value is excessive, when being greater than the range that thin film sensor 3 can normally work, spring assembly 6 is depressed into concordant with lower footwear plate 2, now the lower surface of rubber washer 9 contacts with bottom portion of groove, and spring assembly 6 can not be pressed down again, and the pressure that now thin film sensor 3 is subject to is its maximum range that can normally work.
If shoe tack 4 bottom surface is h to the height of lower footwear plate, its length is H, and spring constant is K, and thin film sensor 3 maximum functional pressurized is F, then K (H-h) >=F
In the present embodiment, for the ectoskeletal robot of rehabilitation, because shoes need to provide support power to paralytic in whole bondage system, the material require of sole selects the hard material of wear-resisting resistance to deformation, and for auxiliary ectoskeleton, shoes require comfortable, and general material for sole of shoe can be selected to make, and therefore described upper and lower footwear plate 1,2 all adopts common elastomeric material to make.
In the present embodiment, for adapting to plantar pressure range and sensitivity requirement, described thin film sensor 3 selects the dynamic diaphragm pressure sensor of Chinese mugwort, and its specific performance parameter is:
Sensor active area: the border circular areas of diameter 20mm;
Range: 100G ~ 150kg;
Size sensor: 120mmX20mm;
Wire widths: 120mm;
Material: PET.
Claims (7)
1. the intelligent pressure of a based thin film sensor gathers footwear, it is characterized in that: it comprises footwear plate (1), lower footwear plate (2) and thin film sensor (3), the lower surface of described lower footwear plate (2) is provided with multiple shoe tack (4), groove (5) is offered in shoe tack (4) inside, in described groove (5), a spring assembly (6) is installed, described thin film sensor (3) is arranged on spring assembly (6) upper surface, and thin film sensor (3) is covered by a plastic cement pad (7), described upper footwear plate (1) and lower footwear plate (2) alignment laminating formation one footwear body plastic cement pad (7) is pressed together on, lower footwear plate (1, 2) between, the data conductor of described thin film sensor (3) derives in shoes rear heel.
2. the intelligent pressure of a kind of based thin film sensor according to claim 1 gathers footwear, it is characterized in that: described shoe tack (4) and lower footwear plate (2) are one of the forming, and shoe tack (4) is cylinder, groove (5) in shoe tack (4) is also cylinder cell body, and the degree of depth of groove (5) is 3mm, diameter is 20mm.
3. the intelligent pressure of a kind of based thin film sensor according to claim 1 gathers footwear, it is characterized in that: be also provided with a baffle (8) between described spring assembly (6) and groove (5) bottom, baffle (8) is cylinder.
4. the intelligent pressure of a kind of based thin film sensor according to claim 1 gathers footwear, it is characterized in that: the groove (5) in described shoe tack (4) is arranged at the sole sensitizing range that common people walk shape state.
5. the intelligent pressure of a kind of based thin film sensor according to claim 1 gathers footwear, it is characterized in that: described thin film sensor (3) has a rubber washer (9), in the groove (5) that rubber washer (9) press-in is corresponding, and the height of rubber washer (9) is 3mm, diameter is 20mm.
6. the intelligent pressure of a kind of based thin film sensor according to claim 1 gathers footwear, it is characterized in that: described plastic cement pad (7) is directly cemented by glue with the upper surface of lower footwear plate (2).
7. the intelligent pressure of a kind of based thin film sensor according to claim 1 gathers footwear, it is characterized in that: described upper and lower footwear plate (1,2) all adopts common elastomeric material to make.
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| CN201510060041.4A CN104605569B (en) | 2015-02-05 | 2015-02-05 | A kind of intelligent pressure collection footwear based on thin film sensor |
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| CN201510060041.4A CN104605569B (en) | 2015-02-05 | 2015-02-05 | A kind of intelligent pressure collection footwear based on thin film sensor |
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| CN104605569B CN104605569B (en) | 2017-06-13 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104964733A (en) * | 2015-06-23 | 2015-10-07 | 上海卓易科技股份有限公司 | Body weight measuring method, device and system |
| CN105835044A (en) * | 2016-06-07 | 2016-08-10 | 电子科技大学 | Exoskeleton robot ranging smart shoe system based on integration of several sensors |
| CN106338353A (en) * | 2016-10-14 | 2017-01-18 | 哈尔滨工业大学 | Vola pressure and moment measurement shoe pad based on pressure membrane |
| CN107928677A (en) * | 2017-12-25 | 2018-04-20 | 张新举 | A kind of sole shape harvester and sole shape acquisition method |
| CN108216420A (en) * | 2018-01-23 | 2018-06-29 | 杭州云深处科技有限公司 | A kind of adjustable foot bottom mechanism for carrying diaphragm pressure sensor |
| CN108968213A (en) * | 2018-08-21 | 2018-12-11 | 黑天鹅智能科技（福建）有限公司 | Sensor accessory, processing mold group and the processing method of intelligent shoe |
| CN111521301A (en) * | 2020-05-15 | 2020-08-11 | 常州天策电子科技有限公司 | Distributed pressure measurement system |
| CN113349762A (en) * | 2021-06-04 | 2021-09-07 | 哈尔滨工业大学 | Integrated intelligent plantar force measuring system adaptable to different foot lengths |
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| CN104188675A (en) * | 2014-09-24 | 2014-12-10 | 哈尔滨工业大学 | Exoskeleton robot system with human motion detecting function and control method of robot system |
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| US7426873B1 (en) * | 2006-05-04 | 2008-09-23 | Sandia Corporation | Micro electro-mechanical system (MEMS) pressure sensor for footwear |
| CN201233287Y (en) * | 2008-07-29 | 2009-05-06 | 东南大学 | Force measuring shoes for moment zero point measurement for human body |
| CN201691164U (en) * | 2010-04-15 | 2011-01-05 | 李允水 | Electrically warmed shoes |
| CN102207415A (en) * | 2011-03-11 | 2011-10-05 | 西安交通大学 | Conductive-rubber-based flexible array clip pressure sensor and manufacturing method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104964733B (en) * | 2015-06-23 | 2018-03-16 | 上海卓易科技股份有限公司 | A kind of body weight measurement, apparatus and system |
| CN104964733A (en) * | 2015-06-23 | 2015-10-07 | 上海卓易科技股份有限公司 | Body weight measuring method, device and system |
| CN105835044A (en) * | 2016-06-07 | 2016-08-10 | 电子科技大学 | Exoskeleton robot ranging smart shoe system based on integration of several sensors |
| CN106338353A (en) * | 2016-10-14 | 2017-01-18 | 哈尔滨工业大学 | Vola pressure and moment measurement shoe pad based on pressure membrane |
| CN107928677B (en) * | 2017-12-25 | 2023-09-12 | 张新举 | Sole shape acquisition device and sole shape acquisition method |
| CN107928677A (en) * | 2017-12-25 | 2018-04-20 | 张新举 | A kind of sole shape harvester and sole shape acquisition method |
| CN108216420A (en) * | 2018-01-23 | 2018-06-29 | 杭州云深处科技有限公司 | A kind of adjustable foot bottom mechanism for carrying diaphragm pressure sensor |
| CN108216420B (en) * | 2018-01-23 | 2024-03-19 | 杭州云深处科技有限公司 | Adjustable plantar mechanism carrying with film pressure sensor |
| CN108968213A (en) * | 2018-08-21 | 2018-12-11 | 黑天鹅智能科技（福建）有限公司 | Sensor accessory, processing mold group and the processing method of intelligent shoe |
| CN108968213B (en) * | 2018-08-21 | 2024-02-02 | 黑天鹅智能科技（福建）有限公司 | Sensor accessory, processing die set and processing method of intelligent shoe |
| CN111521301A (en) * | 2020-05-15 | 2020-08-11 | 常州天策电子科技有限公司 | Distributed pressure measurement system |
| CN113349762B (en) * | 2021-06-04 | 2023-02-24 | 哈尔滨工业大学 | Integrated intelligent plantar force measuring system adaptable to different foot lengths |
| CN113349762A (en) * | 2021-06-04 | 2021-09-07 | 哈尔滨工业大学 | Integrated intelligent plantar force measuring system adaptable to different foot lengths |
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Effective date of registration: 20170921 Address after: 610000 No. 888, south section of Tianfu Road, Tianfu New District, Sichuan, Chengdu Patentee after: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Address before: 610051 No. four, building two, section 239, Jianshe North Road, Chengdu, Sichuan Co-patentee before: Cheng Hong Patentee before: Chengdu electronics great assets management Co.,Ltd. Effective date of registration: 20170921 Address after: 610051 No. four, building two, section 239, Jianshe North Road, Chengdu, Sichuan Co-patentee after: Cheng Hong Patentee after: Chengdu electronics great assets management Co.,Ltd. Address before: 610041 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Patentee before: University of Electronic Science and Technology of China |