CN103622709A - Insole type walking input sensing device - Google Patents
Insole type walking input sensing device Download PDFInfo
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- CN103622709A CN103622709A CN201310461938.9A CN201310461938A CN103622709A CN 103622709 A CN103622709 A CN 103622709A CN 201310461938 A CN201310461938 A CN 201310461938A CN 103622709 A CN103622709 A CN 103622709A
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Abstract
The invention discloses an insole type walking input sensing device which comprises a pressure collecting module, a data processing module, a wireless communication module and a data analysis module. The pressure collecting module is used for receiving pressure sent by all pressure sensors arranged on an insole in the walking process, the data processing module is used for carrying out data processing on the pressure collected by the pressure collecting module, the wireless communication module is used for transmitting the processed data out through a wireless communication device, the data analysis module is used for processing the data in a unified mode immediately after receiving the data, and then human walking is simulated and reappears. According to the insole type walking input sensing device, the pressure data are collected from the inner portions of the pressure sensors in the insole in real time, the data are processed and transmitted to a PC for external data analysis and processing, and the walking state of humans is simulated in a virtual scene through the data at last.
Description
Technical field
The present invention relates to human-computer interaction technique field, be specifically related to a kind of shoe-pad walking input sensing device.
Background technology
Pressure transducer is being obtained application aspect walking analysis, for example, pressure sensor design is become to shoe pad form, for the measurement of Human Sole pressure distribution state; Or, using force sensing resistance as force cell, be installed on shoe insole surface and design shoe-pad measuring system, and propose phase summation law and carry out walking feature analysis, thereby obtain the gait motion mathematic(al) parameter in each period.Yet, up to the present, also there is no the research of the counting output estimation human motion attitude of scholar's application pressure transducer.
The size of plantar pressure and distribution have reflected the information such as human leg, sufficient structure.When human body shank or foot structure form change, the pressure distribution in vola can correspondingly change, by detecting box, analyze plantar pressure and relevant parameter, can obtain the athletic posture of human body, the information of the aspect such as movement velocity and the direction of motion, this research and implementation to wearable intelligent equipment, virtual reality is significant.
Plantar pressure distribution measuring has carried out 20 years of researches, and footmark technology, plantar pressure scanning technique, power plate and ergograph technology, pressure Shoes and insole technology have been gone through in its development.Wherein, pressure Shoes and insole technology can be measured continuous gait pressure distribution in real time, is convenient to further digital assay and processes, and application prospect is more and more expected.The pressure footwear of current research and shoe pad be by transducer arrangements in footwear or shoe pad, and signal processing and control section are still carried by human body, as Novel Pedar-X system and the Belgian RSscan system of the F-Scan system of the U.S., Germany, have system too huge, be not easy to dynamic analysis and the limitation such as carry.
Summary of the invention
Herein for virtual reality system class walking states, by real-time out virtual in other scene of mankind's walking.Then first the present invention will carry out analysis of outside data and processing by being transferred to PC after date processing from real-time collection pressure data in the pressure transducer in shoe pad, finally by these data, the mankind's walking state simulated out in virtual scene.
Accordingly, the embodiment of the present invention provides a kind of shoe-pad walking input sensing device, comprising:
Pressure acquisition module, is arranged on the pressure transmitting on each pressure transducer on shoe pad when receiving walking;
Data processing module, for carrying out date processing to the pressure of pressure acquisition module collection;
Wireless communication module, for sending out the data of processing by radio communication device;
Data analysis module is unified to process to data at once after receiving data, then mankind's walking simulation is reappeared.
Described pressure acquisition module is to utilize the piezoelectric effect of piezoelectric ceramic piece, converts stress or strain to voltage or electric charge, then the device that is amplified and exported by amplifier.
The data message that described data processing module collection obtains from pressure acquisition shoe pad module; Described data processing module is comprised of a circuit board based on microprocessor, comprises a low-power, high performance 8 AVR microprocessor ATmegal6L, peripheral cell and power supply.
The recognition methods of described data analysis module based on support vector machine is with regard to the real-time judgement experimenter's of energy motor behavior.
Implement the embodiment of the present invention, a kind of method for designing of portable body plantar pressure detection system is provided, all devices are integrated among shoe pad, have that volume is little, the feature such as be easy to carry about with one, realize the function of wearable detection, wireless data transmission, demonstration and the storage of multichannel plantar pressure, with this, carried out the walking of simulating human.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the Motion Recognition system construction drawing based on pressure transducer in the embodiment of the present invention;
Fig. 2 is the mechanical model structure chart of the pressure type force transducer in the embodiment of the present invention;
Fig. 3 is the sensor construction schematic diagram in the embodiment of the present invention;
Fig. 4 is the sensor measurement schematic diagram in the embodiment of the present invention;
Fig. 5 is the plantar dissection regional structure schematic diagram in the embodiment of the present invention;
Fig. 6 is the sensor location positional structure schematic diagram in the embodiment of the present invention.
the specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
Herein, for virtual reality system class walking states, a kind of method with practical significance is proposed, by real-time out virtual in other scene of mankind's walking.Then first the present invention will carry out analysis of outside data and processing by being transferred to PC after date processing from real-time collection pressure data in the pressure transducer in shoe pad, finally by these data, the mankind's walking state simulated out in virtual scene.
For virtual reality system class Traveling simulator, reproduce herein, propose a kind of method with practical significance.While first receiving walking, be arranged on the pressure transmitting on each pressure transducer on shoe pad, then these data unifications are processed, after processing, data are sent out by radio communication device, receptor is unified to process to data after receiving these data at once, then mankind's walking simulation is reappeared.The design of whole module as shown in Figure 1.
1, pressure acquisition module
1.1 working sensor principles
Piezoelectric transducer is the piezoelectric effect of utilizing piezoelectric ceramic piece, converts stress (or strain) to voltage (or electric charge), then the device that is amplified and exported by amplifier.Piezoelectric ceramic piece is critical component wherein, and from signal translation-angle, piezoelectric ceramic piece is equivalent to a charge generators (q).Piezoelectric transducer is by the mechanical system that extraneous power is delivered to piezoelectric ceramic piece, piezoelectric ceramic piece and measuring circuit 3 parts to instrument form by charge transfer.The mechanical model of piezoelectric force transducer is as shown in Figure 2:
In Fig. 2, F is the power (testing force) acting on sensor, and m is the equivalent mass on component of piezoelectric conversion, and k is equivalent stiffness coefficient, and c is Equivalent damping coefficient, and x is that m is with respect to the displacement of pedestal.Under F effect, the quantity of electric charge that piezoquartz produces is
Q=d
ij F (1)
Be sensor output the quantity of electric charge to by dynamometry F, be directly proportional, by suitable measuring system, measure the quantity of electric charge of sensor, also just realized the measurement to Radix Talini Paniculati amount.
The structure of 1.2 sensors and distribution
Utilize piezo ceramic element to make three-dimension sensor, its structure as shown in Figure 3.Each three-dimensional force sensor unit is sticked on an IC substrate and is formed by 3 piezoelectric elements, vertical force and forward direction and lateral shear power are measured respectively in 3 unit, and 3 parts are made and polarized and process different piezo ceramic elements by same material, same technique.The polarised direction of potsherd I is vertical direction, in order to measure vertical force; Potsherd II, III polarised direction are horizontal direction, respectively in order to measure the shearing force of forward direction and side direction, as shown in Figure 4.
As can be seen from Figure 4, utilize piezoelectric ceramics to detect principle, along direction as shown, press (shearing), can produce the electric charge and the voltage that are directly proportional to power.In the anatomy of human body, people's foot can be divided into several anatomic regions, as shown in Figure 5.
People is in walking, stand etc. is moved, and these anatomic regions are supporting the most of weight of human body, and is regulating the balance of human body; The power of measuring these positions can be obtained the bulk information of the aspects such as physiology, structure and function of lower limb and even whole body.Native system acquisition module is made shoe-pad, and left and right respectively gathers the stressing conditions in 8 regions.Sensor is placed in respectively on the shoe pad region corresponding with foot, as shown in Figure 6.
System comprises 2 of left and right measurement shoe pad, and measuring shoe pad for every has 8 measurement points, and each measurement point has 3 sensor measurement X, Y, and the component of force in Z3 direction, so whole system includes 48 sensors.Guarantee each measurement point X, Y, the synchronicity of the power sampling in Z3 direction, then enters memory area by the transfer of data collecting.
2, data processing module
Data processing module gathers the data message obtaining from pressure acquisition shoe pad module.This module is comprised of a circuit board based on microprocessor, comprises a low-power, high performance 8 AVR microprocessor ATmegal6L, peripheral cell (resistance, electric capacity etc.) and power supply.This module is succinctly light, can be connected with pressure acquisition shoe pad module by circuit, and be convenient to user's shoe pad integrated.
3, wireless communication module
The task of wireless communication module is that the numerical data after the data processing module through based on microprocessor is processed is wirelessly transmitted to backstage in real time.The conversion method of data collecting system in shoe pad: the raw information of recombinating in quick flashing random access memory also utilizes parallel port to further investigate in downloading to PC after gait test.
4, data analysis module
Wireless communication module is passing to computer from the data of pressure transducer collection, through the date processing of computer, then uses the judgement experimenter's that recognition methods based on support vector machine just can be real-time motor behavior.
The data of being sent by sensor, according to the stressed sequencing of sensor, can judge now people and really advance or retreat.Then according to 8 each sensors X of sensor on every shoe pad, Y, the component in Z3 direction, calculates people's direction of travel and stride according to human body motion feature, then just can obtain the data of simulating human walking.
To sum up, the invention provides a kind of method for designing of portable body plantar pressure detection system, all devices are integrated among shoe pad, have that volume is little, the feature such as be easy to carry about with one, realize the function of wearable detection, wireless data transmission, demonstration and the storage of multichannel plantar pressure, with this, carried out the walking of simulating human.
One of ordinary skill in the art will appreciate that all or part of step in the whole bag of tricks of above-described embodiment is to come the hardware that instruction is relevant to complete by program, this program can be stored in a computer-readable recording medium, storage medium can comprise: read only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc.
A kind of shoe-pad walking the input sensing device above embodiment of the present invention being provided is described in detail, applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention meanwhile.
Claims (4)
1. a shoe-pad walking input sensing device, is characterized in that, comprising:
Pressure acquisition module, is arranged on the pressure transmitting on each pressure transducer on shoe pad when receiving walking;
Data processing module, for carrying out date processing to the pressure of pressure acquisition module collection;
Wireless communication module, for sending out the data of processing by radio communication device;
Data analysis module is unified to process to data at once after receiving data, then mankind's walking simulation is reappeared.
2. shoe-pad walking input sensing device as claimed in claim 1, is characterized in that, described pressure acquisition module is to utilize the piezoelectric effect of piezoelectric ceramic piece, converts stress or strain to voltage or electric charge, then the device that is amplified and exported by amplifier.
3. shoe-pad walking input sensing device as claimed in claim 2, is characterized in that, the data message that described data processing module collection obtains from pressure acquisition shoe pad module; Described data processing module is comprised of a circuit board based on microprocessor, comprises a low-power, high performance 8 AVR microprocessor ATmegal6L, peripheral cell and power supply.
4. shoe-pad walking input sensing device as claimed in claim 3, is characterized in that, the judgement experimenter's that the recognition methods of described data analysis module based on support vector machine just can be real-time motor behavior.
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| CN201310461938.9A CN103622709A (en) | 2013-09-29 | 2013-09-29 | Insole type walking input sensing device |
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| CN201310461938.9A CN103622709A (en) | 2013-09-29 | 2013-09-29 | Insole type walking input sensing device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105520736A (en) * | 2014-09-30 | 2016-04-27 | 上海宽带技术及应用工程研究中心 | Micro-sensing based gait recognition and fall judgment device |
| CN105640561A (en) * | 2016-03-22 | 2016-06-08 | 中国医学科学院生物医学工程研究所 | Ultra-low-power-consumption falling detection and control method |
| CN106778509A (en) * | 2016-11-23 | 2017-05-31 | 清华大学 | A kind of Gait Recognition device and method |
| CN107713393A (en) * | 2017-10-21 | 2018-02-23 | 邱诗妍 | A kind of intelligent shoe cabinet system based on visitor information collection |
| CN108013878A (en) * | 2016-11-03 | 2018-05-11 | 北京航空航天大学 | A kind of intelligent sensing footwear gait analysis system based on plantar pressure |
| CN110200633A (en) * | 2019-07-05 | 2019-09-06 | 北京中硕众联智能电子科技有限公司 | The sensor and detection method of vola direct stress and shearing force when accurate detection walking |
| CN110200635A (en) * | 2019-07-05 | 2019-09-06 | 北京中硕众联智能电子科技有限公司 | The sensor of vola three-axis force and corresponding detection method when a kind of detection walking |
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| CN102670218A (en) * | 2012-05-15 | 2012-09-19 | 北京大学 | Wearable foot bottom pressure acquisition device for artificial limb control |
| CN103186792A (en) * | 2013-03-26 | 2013-07-03 | 北京林业大学 | Optimized C-support vector sorting machine-based gait recognition method |
| CN203059714U (en) * | 2012-12-28 | 2013-07-17 | 宋雅伟 | Plantar pressure distribution measuring system |
| WO2013120362A1 (en) * | 2012-02-16 | 2013-08-22 | 安德润普科技开发（深圳）有限公司 | Pressure monitoring shoe |
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2013
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Patent Citations (4)
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| WO2013120362A1 (en) * | 2012-02-16 | 2013-08-22 | 安德润普科技开发（深圳）有限公司 | Pressure monitoring shoe |
| CN102670218A (en) * | 2012-05-15 | 2012-09-19 | 北京大学 | Wearable foot bottom pressure acquisition device for artificial limb control |
| CN203059714U (en) * | 2012-12-28 | 2013-07-17 | 宋雅伟 | Plantar pressure distribution measuring system |
| CN103186792A (en) * | 2013-03-26 | 2013-07-03 | 北京林业大学 | Optimized C-support vector sorting machine-based gait recognition method |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105520736A (en) * | 2014-09-30 | 2016-04-27 | 上海宽带技术及应用工程研究中心 | Micro-sensing based gait recognition and fall judgment device |
| CN105640561A (en) * | 2016-03-22 | 2016-06-08 | 中国医学科学院生物医学工程研究所 | Ultra-low-power-consumption falling detection and control method |
| CN108013878A (en) * | 2016-11-03 | 2018-05-11 | 北京航空航天大学 | A kind of intelligent sensing footwear gait analysis system based on plantar pressure |
| CN106778509A (en) * | 2016-11-23 | 2017-05-31 | 清华大学 | A kind of Gait Recognition device and method |
| CN107713393A (en) * | 2017-10-21 | 2018-02-23 | 邱诗妍 | A kind of intelligent shoe cabinet system based on visitor information collection |
| CN110200633A (en) * | 2019-07-05 | 2019-09-06 | 北京中硕众联智能电子科技有限公司 | The sensor and detection method of vola direct stress and shearing force when accurate detection walking |
| CN110200635A (en) * | 2019-07-05 | 2019-09-06 | 北京中硕众联智能电子科技有限公司 | The sensor of vola three-axis force and corresponding detection method when a kind of detection walking |
| CN110200635B (en) * | 2019-07-05 | 2024-02-02 | 北京中硕众联智能电子科技有限公司 | Sensor for detecting plantar triaxial force during walking and corresponding detection method |
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Application publication date: 20140312 |