Force-measuring shoes for measuring human body zero moment point

A zero-moment point, force-measuring technology, applied in the field of robots and sensors, can solve the problems of not being able to detect data, being too bulky, and inter-dimensional coupling, etc., to achieve the effects of wide application range, good detection effect, and simple structure

Inactive Publication Date: 2008-12-24
SOUTHEAST UNIV
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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 affec

Method used

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  • Force-measuring shoes for measuring human body zero moment point
  • Force-measuring shoes for measuring human body zero moment point
  • Force-measuring shoes for measuring human body zero moment point

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[0024] The technical solution of the present invention will be described in detail below in conjunction with the drawings:

[0025] Such as figure 1 As shown, the present invention includes two shoe bodies 1. A number of shoe spike sensors 2 are provided at the lower end of each shoe body 1. The feature is that the shoe spike sensors 2 include an elastic body 21, a circuit board 22, and a bottom plate 23, The elastic body 21 is connected to the bottom plate 23, the bottom plate 23 is connected to the shoe body 1, and the circuit board 22 is arranged in the elastic body 31.

[0026] The present invention uses the stud-type sensor 2 arranged on the shoe body 1 to measure the distributed positive pressure of the sole of the human body during walking, and then calculates the zero moment point.

[0027] Preferably, the circuit board 22 of the present invention includes a half-bridge double-arm Wheatstone bridge and an amplifying filter circuit. Four resistance strain gauges 221 are sy...

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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...

Claims

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Application Information

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IPC IPC(8): G01L1/04G01L1/22G01L5/00
Inventor 王兴松伏春乾
Owner SOUTHEAST UNIV
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