CN110367989A - Sensor structure for the acquisition of ectoskeleton plantar pressure - Google Patents
Sensor structure for the acquisition of ectoskeleton plantar pressure Download PDFInfo
- Publication number
- CN110367989A CN110367989A CN201910701432.8A CN201910701432A CN110367989A CN 110367989 A CN110367989 A CN 110367989A CN 201910701432 A CN201910701432 A CN 201910701432A CN 110367989 A CN110367989 A CN 110367989A
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- Prior art keywords
- ectoskeleton
- acquisition
- bionical
- insulation film
- silver paste
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- 238000009413 insulation Methods 0.000 claims abstract description 30
- 230000035479 physiological effects, processes and functions Effects 0.000 claims abstract description 8
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 37
- 229910052709 silver Inorganic materials 0.000 claims description 37
- 239000004332 silver Substances 0.000 claims description 37
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 238000004804 winding Methods 0.000 claims description 29
- 230000001419 dependent effect Effects 0.000 claims description 8
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 6
- 239000000203 mixture Substances 0.000 abstract description 3
- 210000000988 bone and bone Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- 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
-
- 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
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6829—Foot or ankle
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Abstract
The invention discloses a kind of sensor structures for the acquisition of ectoskeleton plantar pressure, including the first bionical insulation film, the second bionical insulation film, several pressure acquisition units being set between the described first bionical insulation film and the second bionical insulation film, the signal amplifier connecting with several pressure acquisition units.Sensor structure of the present invention for the acquisition of ectoskeleton plantar pressure cleverly blends ergonomics, bionics, structure, by multiple pressure acquisition units according to people's foot physiology arrangements, organically combine with ectoskeleton structure, since pressure acquisition point is more, more plantar pressures can be acquired, form effective plantar nervous arch cloud atlas, it prejudges user for ectoskeleton control system and takes action and be intended to provide effective foundation, the other sensors quantity on ectoskeleton can be effectively reduced, product cost is reduced, reliability control system is improved.
Description
Technical field
The present invention relates to wearable robotic technology field, in particular to a kind of biography for the acquisition of ectoskeleton plantar pressure
Sensor structure.
Background technique
In current existing wearable exoskeleton robot product, it is all made of micro pressure sensor or single-point film-sensing
Device carries out plantar pressure acquisition, and this method can obtain plantar pressure, but can only collect considerably less single-point plantar pressure,
Resistance pressure cloud charts cannot be formed, for carrying out the ectoskeleton algorithm of movement anticipation using plantar pressure, there is very high mistake
Sentence rate.Since the shape of micro pressure sensor is not based on ergonomics and bionical design of gaining knowledge, it is difficult
It is coupled with ectoskeleton structure, the strong influence wearing comfort of ectoskeleton product.
Summary of the invention
The main object of the present invention is to propose a kind of sensor structure for the acquisition of ectoskeleton plantar pressure, it is intended to be solved
Ectoskeleton product plantar pressure acquisition problems at present, realization plantar nervous arch cloud atlas, and it is based on bionics and ergonomics,
It is coupled with ectoskeleton perfect structure.
To achieve the above object, the present invention provides a kind of sensor structure for the acquisition of ectoskeleton plantar pressure, packets
It includes the first bionical insulation film, the second bionical insulation film, be set to the described first bionical insulation film and the second bionical insulation
Several pressure acquisition units between film, the signal amplifier being connect with several pressure acquisition units.
Further technical solution of the invention is that the pressure acquisition unit includes the first rectangle silver paste piece, the second square
Shape silver paste piece, the voltage dependent resistor being set between the first rectangle silver paste piece and the second rectangle silver paste piece, it is described to be used for dermoskeleton
The sensor structure of bone plantar pressure acquisition further includes winding displacement interface, and the first rectangle silver paste piece, the second rectangle silver paste piece are equal
It is connect by silver paste line with the winding displacement interface.
Further technical solution of the invention is that the signal amplifier has row corresponding with the winding displacement interface
Line jack, the winding displacement socket are connect with the winding displacement interface.
Further technical solution of the invention is that the sensor structure for the acquisition of ectoskeleton plantar pressure also wraps
Include the display connecting with the signal amplifier.
Further technical solution of the invention is the shape of the first bionical insulation film, the second bionical insulation film
Shape is adapted with human foot physiology shape.
The beneficial effects of the present invention are: the present invention is used for the sensor structure of ectoskeleton plantar pressure acquisition cleverly by people
Body engineering science, bionics, structure blend, by multiple pressure acquisition units according to people's foot physiology arrangements, with dermoskeleton
Bone structure organically combines, and since pressure acquisition point is more, can acquire more plantar pressures, form effective vola
Pressure cloud charts prejudge user's action for ectoskeleton control system and are intended to provide effective foundation, can effectively reduce on ectoskeleton
Other sensors quantity, reduce product cost, improve reliability control system.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the integrated connection signal of sensor structure preferred embodiment of the present invention for the acquisition of ectoskeleton plantar pressure
Figure；
Fig. 2 is sectional view of the present invention for the sensor structure of ectoskeleton plantar pressure acquisition；
Fig. 3 is top view of the present invention for the sensor structure of ectoskeleton plantar pressure acquisition.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 1 | First bionical insulation film | 4 | Signal amplifier |
| 2 | Second bionical insulation film | 401 | Winding displacement socket |
| 3 | Pressure acquisition unit | 5 | Silver paste line |
| 301 | First rectangle silver paste piece | 6 | Winding displacement |
| 302 | Second rectangle silver paste piece | 7 | Winding displacement interface |
| 303 | Voltage dependent resistor |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, being somebody's turn to do " first ", " second " etc. if relating to the description of " first ", " second " etc. in the embodiment of the present invention
Description be used for description purposes only, be not understood to indicate or imply its relative importance or implicitly indicate indicated skill
The quantity of art feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy
Sign.In addition, the meaning of the "and/or" occurred in full text, including three schemes arranged side by side, by taking " A and/or B " as an example, including the side A
The scheme that case or B scheme or A and B meet simultaneously.In addition, the technical solution between each embodiment can be combined with each other, but
To be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occur it is conflicting or can not
Will be understood that the combination of this technical solution is not present when realization, also not the present invention claims protection scope within.
To solve current ectoskeleton product plantar pressure acquisition problems, plantar nervous arch cloud atlas is realized, the present invention proposes
One kind being based on bionics and ergonomics, the sensing for the acquisition of ectoskeleton plantar pressure coupled with ectoskeleton perfect structure
Device structure.
Specifically, please refer to Fig. 1 to Fig. 3, Fig. 1 be the present invention for the acquisition of ectoskeleton plantar pressure sensor structure compared with
The integrated connection schematic diagram of good embodiment；Fig. 2 is section of the present invention for the sensor structure of ectoskeleton plantar pressure acquisition
Figure；Fig. 3 is top view of the present invention for the sensor structure of ectoskeleton plantar pressure acquisition.
As shown in Figure 1 to Figure 3, in the present embodiment, which includes the
One bionical insulation film 1, the second bionical insulation film 2 are set to the described first bionical insulation film 1 and the second bionical insulation is thin
Several pressure acquisition units 3 between film 2, the signal amplifier 4 being connect with several pressure acquisition units 3.
It should be noted that in the present embodiment, the shape of the first bionical insulation film 1, the second bionical insulation film 2
It is adapted with human foot physiology shape, is to be designed according to human foot physiology shape, therefore can be very good and ectoskeleton
Foot coupling.
Further, in the present embodiment, the pressure acquisition unit 3 includes the first rectangle silver paste piece 301, the second rectangle silver
Lodicule 302, the voltage dependent resistor 303 being set between the first rectangle silver paste piece 301 and the second rectangle silver paste piece 302, it is described
Sensor structure for the acquisition of ectoskeleton plantar pressure further includes winding displacement interface 7, the first rectangle silver paste piece 301, second
Rectangle silver paste piece 302 is connect by silver paste line 5 with the winding displacement interface 7.
It is understood that in the present embodiment, silver paste line 5 and the first rectangle silver paste piece 301, the second rectangle silver
302 silk-printing and shaping of lodicule, silver paste line 5 are connect by winding displacement 6 with the winding displacement interface 7.
Further, in the present embodiment, the signal amplifier 4 has winding displacement corresponding with the winding displacement interface 7
Socket 401, the winding displacement socket 401 are connect with the winding displacement interface 7.
Further, in the present embodiment, it is described for ectoskeleton plantar pressure acquisition sensor structure further include with
The display that the signal amplifier 4 connects.
The present invention is described in detail for the working principle of the sensor structure of ectoskeleton plantar pressure acquisition below.
Sensor structure of the present invention for the acquisition of ectoskeleton plantar pressure includes the first bionical insulation film 1, second
Bionical insulation film 2, voltage dependent resistor 303, the first rectangle silver paste piece 301, the second rectangle silver paste piece 302, silver paste line 5, winding displacement connect
Mouth 7, signal amplifier 4, winding displacement socket 401.The present invention includes but are not limited to this base part.Each component connection type is as follows:
A piece of voltage dependent resistor 303, the first rectangle silver paste piece 301 are clipped between first rectangle silver paste piece 301 and the second rectangle silver paste piece 302
With the second rectangle silver paste piece 302 by silver paste line 5 and winding displacement interface 7, this is one group of pressure acquisition unit 3, is pressed by this method
According to the multiple units of human foot bionics arrangements, the first bionical insulation film 1, the second bionical insulation film 2 are then utilized
These pressure acquisition units 3 are clamped in upper and lower both direction.The winding displacement socket 401 that winding displacement interface 7 and signal amplifier 4 are drawn
It is connected.Since the first bionical insulation film 1, the second bionical insulation film 2 are designed according to human foot physiology shape,
It can be very good to couple with ectoskeleton foot, when people, which dresses ectoskeleton, steps down in ectoskeleton sole, due to human foot and sole
Exposure level is different, also different to the pressure of voltage dependent resistor 303, and the voltage dependent resistor 303 used in the present invention, pressure is bigger, electricity
Hinder smaller, therefore when people steps down on the sensor that designs of the present invention, the collected pressure of each point is different, each pressure acquisition
The variable resistive value that unit 3 is pressed is also different, and the current value in each circuit is also different, each pressure acquisition unit 3 collected pressure letter
Number winding displacement interface 7 is transmitted to by silver paste line 5, then signal amplifier 4 is passed to by winding displacement interface 7, put through signal amplifier 4
Greatly, it is output on display, the pressure value obtained according to display is different, shows different colors, plantar pressure can be obtained
Cloud charts.
The beneficial effects of the present invention are: the present invention is used for the sensor structure of ectoskeleton plantar pressure acquisition cleverly by people
Body engineering science, bionics, structure blend, by multiple pressure acquisition units according to people's foot physiology arrangements, with dermoskeleton
Bone structure organically combines, and since pressure acquisition point is more, can acquire more plantar pressures, form effective vola
Pressure cloud charts prejudge user's action for ectoskeleton control system and are intended to provide effective foundation, can effectively reduce on ectoskeleton
Other sensors quantity, reduce product cost, improve reliability control system.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the design of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/it is used in it indirectly
He is included in scope of patent protection of the invention relevant technical field.
Claims (5)
1. it is a kind of for ectoskeleton plantar pressure acquisition sensor structure, which is characterized in that including the first bionical insulation film,
Second bionical insulation film, several pressure being set between the described first bionical insulation film and the second bionical insulation film are adopted
The signal amplifier for collecting unit, being connect with several pressure acquisition units.
2. the sensor structure according to claim 1 for the acquisition of ectoskeleton plantar pressure, which is characterized in that the pressure
Power acquisition unit includes the first rectangle silver paste piece, the second rectangle silver paste piece, is set to the first rectangle silver paste piece and the second square
Voltage dependent resistor between shape silver paste piece, the sensor structure for the acquisition of ectoskeleton plantar pressure further includes winding displacement interface,
The first rectangle silver paste piece, the second rectangle silver paste piece pass through silver paste line and connect with the winding displacement interface.
3. the sensor structure according to claim 2 for the acquisition of ectoskeleton plantar pressure, which is characterized in that the letter
Number amplifier has winding displacement socket corresponding with the winding displacement interface, and the winding displacement socket is connect with the winding displacement interface.
4. the sensor structure according to claim 1 for the acquisition of ectoskeleton plantar pressure, which is characterized in that the use
In ectoskeleton plantar pressure acquisition sensor structure further include the display being connect with the signal amplifier.
5. the sensor structure according to any one of claims 1-4 for the acquisition of ectoskeleton plantar pressure, feature
Be, the first bionical insulation film, the second bionical insulation film shape be adapted with human foot physiology shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701432.8A CN110367989A (en) | 2019-07-31 | 2019-07-31 | Sensor structure for the acquisition of ectoskeleton plantar pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701432.8A CN110367989A (en) | 2019-07-31 | 2019-07-31 | Sensor structure for the acquisition of ectoskeleton plantar pressure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110367989A true CN110367989A (en) | 2019-10-25 |
Family
ID=68257348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910701432.8A Pending CN110367989A (en) | 2019-07-31 | 2019-07-31 | Sensor structure for the acquisition of ectoskeleton plantar pressure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110367989A (en) |
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| CN109320742A (en) * | 2018-09-04 | 2019-02-12 | 武汉纺织大学 | Nanofiber-based bionical driving film and the preparation method and application thereof |
| CN109443611A (en) * | 2018-11-15 | 2019-03-08 | 北京大学深圳研究生院 | A kind of array pressure sensor and pressure acquisition system |
| CN109567812A (en) * | 2017-09-29 | 2019-04-05 | 大连恒锐科技股份有限公司 | Gait analysis system based on Intelligent insole |
| CN210784352U (en) * | 2019-07-31 | 2020-06-19 | 深圳职业技术学院 | Sensor structure for exoskeleton sole pressure acquisition |
-
2019
- 2019-07-31 CN CN201910701432.8A patent/CN110367989A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103330562A (en) * | 2013-07-11 | 2013-10-02 | 无锡交大联云科技有限公司 | Bionic flexible dry electrode and manufacturing method thereof |
| US20170086704A1 (en) * | 2015-09-25 | 2017-03-30 | Intel Corporation | Electronic skin |
| CN106909258A (en) * | 2015-12-23 | 2017-06-30 | 汉思高电子科技（义乌）有限公司 | A kind of structure of touch screen function piece lead and preparation method thereof |
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| CN106422153A (en) * | 2016-09-30 | 2017-02-22 | 安徽中科本元信息科技有限公司 | Intelligent balance beam based on flexible pressure sensor and working method of intelligent balance beam |
| CN109567812A (en) * | 2017-09-29 | 2019-04-05 | 大连恒锐科技股份有限公司 | Gait analysis system based on Intelligent insole |
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