CN103110239B - Rehabilitative shoe - Google Patents
Rehabilitative shoe Download PDFInfo
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- CN103110239B CN103110239B CN201210506095.5A CN201210506095A CN103110239B CN 103110239 B CN103110239 B CN 103110239B CN 201210506095 A CN201210506095 A CN 201210506095A CN 103110239 B CN103110239 B CN 103110239B
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- rehabilitative shoe
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Abstract
The present invention relates to a kind of rehabilitative shoe, comprise vamp, sole, and be arranged at the six axle inertial sensors for generation of acceleration and angular velocity signal of human body waist, described sole is provided with rubber plastic capsule control cabinet and rubber plastic capsule, described rubber plastic capsule control cabinet is provided with raw material device, guiding flexible pipe, motor, the control system of the motor be connected with described motor by shaft coupling and the described motor of connection that is provided with multidirectional reversal valve, described guiding flexible pipe connects described rubber plastic capsule by described multidirectional reversal valve hollow pipeline, described rubber plastic capsule surface is provided with the pressure sensor for human body foot force signal, rehabilitative shoe of the present invention can adjust the pose of sole in real time, and prevention human body is fallen.
Description
Technical field
The present invention relates to a kind of rehabilitative shoe, particularly relate to a kind of rehabilitative shoe of fall prevention.
Background technology
Existing anti-rehabilitative shoe of falling, main pressure or the center of gravity of relying on carries out adjustment sole pose, and then prevention human body is fallen, and the mode of adjustment moving platform is too single, can not be applicable to the crowd of most of plantar pressure exception.In addition, its control model is too easy, seldom adopts the mode of artificial intelligence to control the various pose pattern of sole.
Japan develops a kind of shoes of falling, and it is according to when judging that patient loses duplicate removal heart risk, adopts pneumatic actuator that sole is made and adjusts fast, guarantee that user can not disequilibrium.But in fact, its control strategy signal source is center of gravity signal, be not the pressure signal of reaction vola motion conditions, not directly and fully reacting human body has the trend of falling.The rehabilitation exercise footwear of Gu Lian university of Israel, the pressure signal in vola is adopted during its control signal, but the mode of adjustment sole is too single, the demand of various different crowd can not be adapted to, the Haifa, Israel Institute of Technology develops a kind of rehabilitative shoe for gonitis treatment, its regulative mode is flexible compared with the anti-footwear of falling of Gu Lian university, but it does not have control system.
Summary of the invention
The present invention is for solving the problems of the technologies described above, there is provided a kind of can adjust the pose of sole thus prevent the rehabilitative shoe that human body is fallen, comprise vamp, sole, and be arranged at the six axle inertial sensors for generation of acceleration and angular velocity signal of human body waist, described sole is provided with rubber plastic capsule control cabinet and rubber plastic capsule, described rubber plastic capsule control cabinet is provided with raw material device, guiding flexible pipe, motor, the motor be connected with described motor by shaft coupling and the control system connecting described motor, described control system is provided with multidirectional reversal valve and data acquisition unit, described pilot operated directional control valve is provided with hollow pipeline, described guiding flexible pipe connects described rubber plastic capsule through described multidirectional reversal valve hollow pipeline, described rubber plastic capsule surface is provided with the pressure sensor for human body foot force signal.
Preferably, the quantity of described rubber plastic capsule is at least 1.
Preferably, the quantity of described rubber plastic capsule is 6.
Preferably, described motor is DC servo motor.
Preferably, described motor is provided with the motor support plate near described rubber plastic capsule control cabinet inwall for fixing described motor.
Preferably, the raw material in described raw material device comprise in gas, liquid, solid one or more.
Rehabilitative shoe of the present invention, by the raw material in raw material device described in the rubber plastic capsule charge and discharge on described sole, thus changes the volume of rubber plastic capsule, and then the pose of adjustment sole, prevents user from falling; By adopting pressure sensor and six axle inertial sensors to judge soundly to people's posture, and controlling described motor fast, being changed the supply of described rubber plastic capsule Raw by CD-ROM drive motor.
Accompanying drawing explanation
Fig. 1 is one embodiment of the invention rehabilitative shoe schematic diagram;
Fig. 2 is one embodiment of the invention rehabilitative shoe rubber plastic capsule control cabinet schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the present invention is described in further detail.
As shown in Figure 1, for one embodiment of the invention rehabilitative shoe schematic diagram, comprise vamp, sole 2, and be arranged at the six axle inertial sensors (not shown) for generation of acceleration and angular velocity signal of human body waist, described sole 2 is provided with rubber plastic capsule control cabinet 3 and rubber plastic capsule 4 ~ 7, described rubber plastic capsule control cabinet 3 is provided with raw material device 11, guiding flexible pipe 12, motor 16, the control system 13 with data acquisition unit (not shown) of the motor 14 be connected with described motor 16 by shaft coupling 15 and the described motor of connection 14 that is provided with multidirectional reversal valve (not shown), described multidirectional reversal valve is provided with hollow pipeline (not shown), described guiding flexible pipe 12 connects described rubber plastic capsule 4 ~ 7 by described multidirectional reversal valve hollow pipeline, described rubber plastic capsule 4 ~ 7 surface is provided with the pressure sensor 10 for human body foot force signal, described motor 16 is provided with the motor support plate 17 near described rubber plastic capsule control cabinet 3 inwall for fixing described motor 16.
In the above-described embodiments, described rubber plastic capsule comprises rubber plastic capsule 4, rubber plastic capsule 5, rubber plastic capsule 6 and rubber plastic capsule 7, in other embodiments, the quantity of described rubber plastic capsule can change with the needs of the patient of wearing rehabilitative shoe, but the quantity of rubber plastic capsule is at least 1; Motor 16 in the present embodiment can be DC servo motor, also can be other any type of micromachine being applicable to human body recovery footwear; Raw material in described raw material device 11 can be one or more in gas, liquid, solid, in the present embodiment, described raw material is gas or liquid, motor 16 is placed on sole 2, motor 16 is connected with motor 14 by shaft coupling 15, the gas of multidirectional reversal valve or the flow constrained input of liquid charging stock is controlled by motor 14, according to control signal, with each position rubber at the bottom of control pin expect charging and discharging gas or liquid of capsule 4 ~ 7, and then the pose of adjustment sole 2, thus the motion conditions changing model of human ankle carrys out fall prevention.Human body is carrying out in daily motion process, both feet are placed in rehabilitative shoe separately, can according to Real-time Collection the pressure signal of pressure sensor 10, six axles of waist six axle inertial sensor add, angular velocity signal, carry out real-time analysis process, as the control signal of motor 16, the rotation of drive motors 16 rapidly and accurately, and then the pose of adjustment sole prevents human body from falling.
As shown in Figure 2, for one embodiment of the invention rehabilitative shoe rubber plastic capsule control cabinet schematic diagram, the rubber plastic capsule control cabinet 3 of the present embodiment is provided with raw material device 11, guiding flexible pipe 12, motor 16, the control system 13 with data acquisition unit (not shown) of the motor 14 be connected with described motor 16 by shaft coupling 15 and the described motor of connection 14 that is provided with multidirectional reversal valve (not shown), the quantity of described guiding flexible pipe 12 and the quantity of described rubber plastic capsule are consistent, the present embodiment, there is six roots of sensation guiding flexible pipe 12, control charging and discharging gas or liquid of six rubber plastic capsules respectively, described data acquisition unit is used for carrying out signal transacting, signal optimizing and Modulation recognition to control signal, signal transacting comprises signal filtering, amplification, linearization process and characteristics extraction, and Modulation recognition comprises the grader such as neutral net, SVMs.
Specific embodiment:
User dresses rehabilitative shoe, and pressure sensor 10 is built in sole 2 rubber plastic capsule surface, and six axle inertial sensor sensors are placed in the waist of human body, are carried out the collection of control signal by data acquisition unit.
Before this rehabilitative shoe of use, now need to demarcate the pressure in user vola, this is mainly in order to determine the ratio of gas or liquid in the quantity of rubber plastic capsule and rubber plastic capsule, concrete steps are, (1) user's both feet dress this rehabilitative shoe, record the pressure distribution data in vola; (2) compare according to the plantar pressure data of plantar nervous arch data and normal person's standard; (3) by changing the ratio of gas or liquid in the quantity of rubber plastic capsule or rubber plastic capsule, make the plantar pressure data difference of plantar pressure data and normal person's standard relatively little.
When people's posture occurs abnormal (as falling), the pressure signal that human body sole 2 rubber plastic capsule surface pressure sensor 10 records, what waist six axle inertial sensor recorded adds, angular velocity signal will have significant change, by data acquisition unit, (amplification is processed to these signals, shaping, filtering, characteristics extraction etc.), optimize, classification (neutral net, the graders such as SVMs), people's posture is correctly judged, and control motor 16 fast, charging and discharging gas or liquid of the adjustment each rubber plastic capsule of sole is changed by CD-ROM drive motor 14, and then the pose of adjustment sole 2 is fallen to prevent human body.During as judged human body fall forward, the pressure signal that the forward part pressure sensor 10 of biped records increases, what six axle inertial sensors of waist recorded adds, angular velocity signal acceleration signal forward component forward increases, at this moment data acquisition unit carries out collection and convergence analysis to these signals, make correct judgement, export suitable control signal rapidly to motor 16, to carry out inflatable body or liquid to forefoot two rubber plastic capsules, and venting body or liquid are carried out to two or three rubber plastic capsules of heel, the pose of sole 2 is changed, and then the pose of adjustment model of human ankle prevents human body from falling.
Be understandable that, for the person of ordinary skill of the art, other various corresponding change and distortion can be made by technical conceive according to the present invention, and all these change the protection domain that all should belong to the claims in the present invention with distortion.
Claims (6)
1. a rehabilitative shoe, comprise vamp, sole, and be arranged at the six axle inertial sensors for generation of acceleration and angular velocity signal of human body waist, it is characterized in that: described sole is provided with rubber plastic capsule control cabinet and rubber plastic capsule, described rubber plastic capsule control cabinet is provided with raw material device, guiding flexible pipe, motor, the motor be connected with described motor by shaft coupling and the control system connecting described motor, described control system is provided with multidirectional reversal valve and data acquisition unit, described multidirectional reversal valve is provided with hollow pipeline, described guiding flexible pipe connects described rubber plastic capsule through described multidirectional reversal valve hollow pipeline, described rubber plastic capsule surface is provided with the pressure sensor for human body foot force signal,
When the pressure signal that the pressure sensor on described rubber plastic capsule surface records increases, described data acquisition unit carries out collection analysis to described pressure signal, and exporting control signal to described motor, described motor drives the rubber plastic capsule of described motor to described pressure increase to be filled with raw material in described raw material device.
2. rehabilitative shoe according to claim 1, is characterized in that: the quantity of described rubber plastic capsule is at least 1.
3. rehabilitative shoe according to claim 2, is characterized in that: the quantity of described rubber plastic capsule is 6.
4. rehabilitative shoe according to claim 1, is characterized in that: described motor is DC servo motor.
5. the rehabilitative shoe according to claim 1 or 4, is characterized in that: described motor is provided with the motor support plate near described rubber plastic capsule control cabinet inwall for fixing described motor.
6. rehabilitative shoe according to claim 1, is characterized in that: the raw material in described raw material device comprise in gas, liquid, solid one or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210506095.5A CN103110239B (en) | 2012-11-30 | 2012-11-30 | Rehabilitative shoe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210506095.5A CN103110239B (en) | 2012-11-30 | 2012-11-30 | Rehabilitative shoe |
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| Publication Number | Publication Date |
|---|---|
| CN103110239A CN103110239A (en) | 2013-05-22 |
| CN103110239B true CN103110239B (en) | 2015-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210506095.5A Active CN103110239B (en) | 2012-11-30 | 2012-11-30 | Rehabilitative shoe |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105266256A (en) * | 2015-01-04 | 2016-01-27 | 邢台职业技术学院 | Balance shoes special for the elderly |
| CN105249589A (en) * | 2015-09-02 | 2016-01-20 | 深圳市前海安测信息技术有限公司 | Healthy shoe and control system preventing elder people tumbling |
| WO2019058380A1 (en) * | 2017-09-24 | 2019-03-28 | Technion Research And Development Foundation Limited | A robotic shoe for diagnosis and rehabilitation of gait anomalies |
| CN107693308A (en) * | 2017-10-26 | 2018-02-16 | 西南交通大学 | Wearable power-assisted walking aid rehabilitation Environmental-protection shoes |
| CN109984422A (en) * | 2019-04-15 | 2019-07-09 | 重庆嵘安医疗器材有限公司 | A method of high-heeled shoes are customized based on big data |
| CN114680424B (en) * | 2022-04-14 | 2023-03-24 | 浙江大学 | Dynamically-adjusted flexible arch-ankle system and control method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1383364A (en) * | 2000-03-16 | 2002-12-04 | 耐克国际有限公司 | Article of footwear with motion control device |
| CN101950464A (en) * | 2010-09-17 | 2011-01-19 | 中国科学院深圳先进技术研究院 | Method and system for fall monitoring and warning |
| CN102783766A (en) * | 2012-08-28 | 2012-11-21 | 中国科学院深圳先进技术研究院 | Fall prevention device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI475965B (en) * | 2010-06-04 | 2015-03-11 | Hon Hai Prec Ind Co Ltd | Shoe |
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2012
- 2012-11-30 CN CN201210506095.5A patent/CN103110239B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1383364A (en) * | 2000-03-16 | 2002-12-04 | 耐克国际有限公司 | Article of footwear with motion control device |
| CN101950464A (en) * | 2010-09-17 | 2011-01-19 | 中国科学院深圳先进技术研究院 | Method and system for fall monitoring and warning |
| CN102783766A (en) * | 2012-08-28 | 2012-11-21 | 中国科学院深圳先进技术研究院 | Fall prevention device |
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| CN103110239A (en) | 2013-05-22 |
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