Force-measuring shoes for measuring human body zero moment point

Abstract

The invention discloses a pair of force measuring shoes that is used for human zero moment point measurement and relates to the technical fields of robots and sensors, in particular to the technical field of the force measuring shoes that are used for the human zero moment point measurement and the measurement of parameters such as pelma-distributed positive pressure and friction in the human walking process. A pair of force measuring shoes comprises two shoe bodies with a plurality of hobnail-typed sensors arranged under each shoe body, and is characterized in that the hobnail-typed sensor comprises an elastic body, a circuit board and a baseboard, the elastic body is connected with the baseboard, the baseboard is connected with the shoe body, and the circuit board is arranged inside the elastic body. The invention realizes the force measuring shoes that have simple structure, good detecting effect and wide application range, is used for the human zero moment point measurement, can satisfy the walking requirements under different road conditions, and does not affect normal human walking.

Description

technical field [0001] The invention relates to the technical field of robots and sensors; in particular, it relates to force-measuring shoes used for measuring zero-moment points of human bodies, which can measure parameters such as plantar normal pressure and friction during human walking. Background technique [0002] The concept of Zero Moment Point (ZMP) was first proposed by Yugoslav M. Wuko Bratovic. After decades of development, it has now become an important criterion for the stable walking of robots. important tool. Studying the ZMP trajectory of human walking can provide reference data for the stable walking design of biped robots, and also provide an important theoretical basis for the study of human walking mechanism and related models. [0003] At present, the main ways to directly detect ZMP are: six (multiple) dimensional force / torque sensors and force measuring platforms. The six-dimensional force / torque sensor can obtain the six-dimensional reaction force...

AI Technical Summary

Problems solved by technology

The six-dimensional force / torque sensor can obtain the six-dimensional reaction force information on the ground. The most successful application example is the ASIMO of Honda, Japan, but it is too bulky. Using it to detect the ZMP of real people will greatly affect the normal walking of the human body.

Moreover, six-dimensional sensors generally have inter-dimensional coupling, which needs to be decoupled through complex methods.

The force measuring platform is placed on the ground, which will not affect the normal walking of the human body, but due to the size, generally only the data of one cycle of human walking can be measured, and it cannot be used to detect the data of human walking under different road conditions

Although there are various detection methods of ZMP at present, there are still some shortcomings, such as inter-dimensional coupling, too bulky, affecting the normal walking of the human body, unable to adapt to the walking requirements of long-term and different road conditions, etc.

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