Personalized insole manufacturing method based on three-dimensional motion capture and 3D printing

Abstract

The invention belongs to the technical field of personalized insole manufacturing, particularly relates to a personalized insole manufacturing method and system based on three-dimensional motion capture and 3D printing, and aims to solve the problem that most existing insoles are generally manufactured and lack targeted design for consumers. The method comprises the following steps: preprocessing foot data of a target to obtain preprocessed foot data; performing feature extraction on the preprocessed foot data to obtain each foot feature; constructing a comprehensive feature vector of each foot feature based on the data source feature of each foot feature; performing mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; performing multi-modal fusion on each comprehensive feature vector by using an algorithm to obtain a foot biomechanical model; and performing 3D printing of the insole based on the mechanical analysis result and the foot mechanical model. According to the method, scientific and objective data support is provided for comprehensive quantitative analysis of the motion state of the foot, and manufacturing of personalized insoles is guided.

Description

Background Art

[0002] As an important footwear accessory, the history of insoles can be traced back to a long time ago. Initially, they were mainly used to increase the comfort of shoes and extend the service life of shoes. With the passage of time and the advancement of technology, the design and function of insoles have also been significantly improved and developed. The following is a description of the background technology of insoles: Traditional insoles are mostly made of a single material, such as leather, cloth or simple foam materials. Although these materials can provide basic comfort, they are insufficient in terms of moisture absorption and perspiration, pressure resistance and shock absorption. After entering the 20th century, with the rise of the chemical industry, insoles made of synthetic materials began to appear, such as EVA, PU (polyurethane), etc. These materials are popular because of their light, soft and elastic properties. In recent years, with the improvement of consumers' requirements for health and comfort, insole technology has undergone further innovation. The application of new materials enables insoles to not only better absorb impact, such as strengthening the design in key parts such as the arch and heel;

[0003] However, most of the existing insoles are generally self-made, lacking targeted design for consumers, resulting in low compatibility of the insoles with consumers, leading to low product utilization and resource utilization. Summary of the invention

[0004] In order to solve the above-mentioned problem in the prior art, that is, the existing insole manufacturing is mostly self-made and lacks targeted design for consumers, the present invention provides a personalized insole manufacturing method based on three-dimensional motion capture and 3D printing, characterized in that the method comprises:

[0005] Acquire the foot data of the target; the foot data includes static foot scanning data, plantar pressure data under the dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0006] Preprocessing the foot data of the target to obtain preprocessed foot data;

[0007] Extracting features from the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0008] Based on the data source features of each foot feature, a comprehensive feature vector of each foot feature is constructed; based on the data source features, a mechanical analysis is performed on the target to obtain a mechanical analysis result; and an algorithm is used to perform multimodal fusion on each comprehensive feature vector to obtain a foot biomechanics model;

[0009] The insole is 3D printed based on the mechanical analysis results and the foot mechanical model.

[0010] In a preferred embodiment, the method for obtaining the foot data of the target is:

[0011] Perform static scanning on the target's foot, and accurately measure the target's arch height, foot length, and foot width parameters to obtain static foot scanning data;

[0012] Based on the target's activity type on the dynamic force plate, the plantar pressure distribution is recorded through the force plate, and the pressure changes under different gaits are captured to obtain plantar pressure data;

[0013] Use the Vicon system to install reflective markers at multiple key points on the target's feet, lower limbs, and torso, and use cameras to capture the three-dimensional motion trajectories of these markers to obtain three-dimensional motion trajectory data;

[0014] Installing surface electromyography electrodes on the target's foot and lower limb muscle groups to record muscle activity, and obtaining foot surface electromyography data based on the muscle activity;

[0015] Based on the target's walking on the Zebris pressure measurement system, the dynamic pressure distribution of the sole of the foot is recorded by a high-precision pressure sensor to obtain the dynamic pressure distribution data of the sole of the foot.

[0016] In a preferred embodiment, preprocessing the foot data of the target to obtain preprocessed foot data includes:

[0017] Using a filtering technique to filter the foot data to obtain filtered foot data;

[0018] The filtered foot data from different devices are time synchronized to obtain pre-processed foot data.

[0019] In a preferred embodiment, the various foot characteristics are respectively static foot characteristics, dynamic pressure characteristics, kinematic characteristics and myoelectric characteristics.

[0020] In a preferred embodiment, extracting features from the pre-processed foot data to obtain various foot features includes:

[0021] Extracting foot geometric features based on the preprocessed static foot scan data, wherein the data source features of the foot geometric features include arch height, foot length, foot width, and foot volume;

[0022] Extracting dynamic pressure features based on preprocessed plantar pressure data and preprocessed plantar dynamic pressure distribution data, wherein data source features of the dynamic pressure features include plantar pressure distribution, center of gravity trajectory function, and pressure peak value;

[0023] The center of gravity trajectory function is:

[0024] Where t is time, T is the time from one foot landing to the next landing of the same foot, A is the maximum distance of the center of gravity from the center line in each gait cycle; Y(t) is the angle of the center of gravity trajectory;

[0025] Extract kinematic features based on the preprocessed three-dimensional motion trajectory data, wherein the data source features of the kinematic features include gait cycle, stride, step frequency, and ankle joint angle change function;

[0026] The joint angle change function is:

[0027] Among them, θ ankle(t) is the change in ankle joint angle over time, A ankle is the maximum amplitude of ankle joint angle change, φ ankle is the phase shift, θ ankle_offset is the basic angle of the ankle joint, t is the time, and T is the time from one foot touching the ground to the next time the same foot touches the ground again;

[0028] The electromyographic features are extracted based on the preprocessed surface electromyographic data of the foot, wherein the electromyographic features include electromyographic activity level features, electromyographic timing features, and muscle synergy degree features.

[0029] In a preferred embodiment, constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature specifically includes:

[0030] The comprehensive feature vector of the foot geometric features is: D = (D 1 ,D 2 ,D 3 ,D 4 ); the comprehensive characteristic vector of the dynamic pressure characteristic is: E = (Y 1 , 1,1,1); the comprehensive feature vector of the kinematic feature is: U=(U 1 ,U 2 ,U 3 ,1); the comprehensive feature vector of the electromyographic feature is: V=(V 1 ,V 2 ,V 3 ,1); where D 1 ,D 2 ,D 3 ,D 4 They are arch height, foot length, foot width, and foot volume, respectively. 1 is the peak pressure, U 1 ,U 2 ,U 3are gait cycle, stride length, and frequency, respectively. 1 ,V 2 ,V 3 They are the characteristics of EMG activity level, EMG timing, and muscle synergy degree;

[0031] In a preferred embodiment, performing mechanical analysis on the target based on the data source characteristics to obtain a mechanical analysis result includes:

[0032] Based on the plantar pressure distribution, a pressure concentration area and a pressure abnormality point are obtained;

[0033] Obtaining the trajectory of the center of gravity and the angle change of the ankle joint based on the center of gravity trajectory function and the joint angle function;

[0034] The center of gravity trajectory and ankle joint angle are compared with the standard center of gravity trajectory range and the standard bare joint angle range, and the center of gravity trajectory and angle outside the standard range are regarded as abnormal center of gravity trajectory and abnormal ankle joint angle. If the time of the abnormal center of gravity trajectory and abnormal ankle joint angle exceeds the threshold, it is considered that an abnormal movement pattern exists.

[0035] In a preferred embodiment, the foot biomechanics model is: f(D,E,U,V)=D·(E×U)+V·E;

[0036] Among them, f(D,E,U,V) is the biomechanical value of the foot,

[0037] In a preferred embodiment, 3D printing of the insole based on the mechanical analysis results and the foot biomechanical model includes:

[0038] Determining the contour shape of the insole based on the foot length, foot width, and foot volume of the foot geometric characteristics;

[0039] The pressure concentration area is the support area of ​​the insole;

[0040] Based on the abnormal pressure point being the shock absorbing area of ​​the insole;

[0041] If there is an abnormal movement pattern, the thickness of the insole is reduced by a fixed value;

[0042] If the foot biomechanical value is less than the first threshold, EVA material is selected; if the foot biomechanical value is greater than or equal to the first threshold and less than the second threshold, PU material is selected; if the foot biomechanical value is greater than the second threshold, silicone material is selected.

[0043] In a second aspect of the present invention, a personalized insole manufacturing system based on three-dimensional motion capture and 3D printing is proposed, the system comprising:

[0044] A data acquisition module is used to acquire the foot data of the target; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0045] A preprocessing module, used for preprocessing the foot data of the target to obtain preprocessed foot data;

[0046] A data feature extraction module, used for extracting features from the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0047] A data analysis module, configured to construct a comprehensive feature vector of each foot feature based on the data source features of each foot feature; perform mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and perform multimodal fusion of each comprehensive feature vector using an algorithm to obtain a foot biomechanics model;

[0048] A 3D printing module is used to perform 3D printing of insoles based on the mechanical analysis results and the foot mechanical model.

[0049] Beneficial effects of the present invention:

[0050] (1) The present invention realizes a comprehensive quantitative analysis of the foot movement state by combining static foot scanning and dynamic data collection, providing scientific and objective data support to guide the design and production of personalized insoles;

[0051] (2) The present invention first provides a comprehensive analysis of multi-dimensional data: integrating static scanning, dynamic force plates, Vicon motion capture, sEMG and Zebris dynamic pressure data to provide a comprehensive biomechanical analysis. Then, functional design is performed: according to the functional requirements of different shoes, targeted insole designs are provided to improve comfort and functionality. Secondly, personalized customization is performed: according to the specific needs of the patient and the results of data analysis, highly personalized insole solutions are provided. Finally, real-life scenario simulation is performed: through comprehensive dynamic data collection and analysis, real usage scenarios are simulated to ensure the performance of the insole in various actual usage situations;

[0052] (3) Through precise foot scanning and data analysis, a unique insole can be created for each user to meet their specific gait and biomechanical needs. This customized service not only improves comfort, but also prevents and corrects some foot problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0054] Figure 1 It is a flow chart of a method for making a personalized insole based on three-dimensional motion capture and 3D printing according to an embodiment of the present invention;

[0055] Figure 2 It is a structural diagram of a computer system of a server for implementing the method, system, and device embodiments of the present application. DETAILED DESCRIPTION

[0056] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0057] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0058] The present invention provides a method for producing a personalized insole by three-dimensional motion capture and 3D printing, the method comprising:

[0059] Acquire the foot data of the target; the foot data includes static foot scanning data, plantar pressure data under the dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0060] Preprocessing the foot data of the target to obtain preprocessed foot data;

[0061] Extracting features from the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0062] Based on the data source features of each foot feature, a comprehensive feature vector of each foot feature is constructed; based on the data source features, a mechanical analysis is performed on the target to obtain a mechanical analysis result; and an algorithm is used to perform multimodal fusion on each comprehensive feature vector to obtain a foot biomechanics model;

[0063] The insole is 3D printed based on the mechanical analysis results and the foot mechanical model.

[0064] In order to more clearly illustrate the personalized insole manufacturing method based on three-dimensional motion capture and 3D printing of the present invention, the following is combined with Figure 1Each step in the embodiment of the present invention is described in detail.

[0065] The steps of the personalized insole manufacturing method based on three-dimensional motion capture and 3D printing in the first embodiment of the present invention are described in detail as follows:

[0066] Acquire the foot data of the target; the foot data includes static foot scanning data, plantar pressure data under the dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0067] In this embodiment, the method for obtaining the foot data of the target is: statically scanning the foot of the target, and accurately measuring the arch height, foot length, and foot width parameters of the target to obtain static foot scanning data; based on the activity type of the target on the dynamic force plate, the activity type can be walking or standing, etc., the plantar pressure distribution is recorded through the force plate, and the pressure changes under different gaits are captured to obtain plantar pressure data; using the Vicon system to install reflective marking points at multiple key points of the target's feet, lower limbs, and torso, and the three-dimensional motion trajectory of these marking points is captured by a camera to obtain three-dimensional motion trajectory data; surface electromyography electrodes are installed on the muscle groups of the target's feet and lower limbs to record muscle activity, and surface electromyography data of the foot is obtained based on the muscle activity; based on the target walking on the Zebris pressure measurement system, the dynamic pressure distribution of the sole of the foot is recorded by a high-precision pressure sensor to obtain dynamic plantar pressure distribution data. The foot can be scanned by a time-of-flight scanner, a laser scanner, an optical projector, or an ultrasonic scanner;

[0068] Preprocessing the foot data of the target to obtain preprocessed foot data;

[0069] In this embodiment, preprocessing the foot data of the target to obtain preprocessed foot data includes: filtering the foot data using filtering technology to obtain filtered foot data; and performing time synchronization processing on the filtered foot data from different devices to obtain preprocessed foot data.

[0070] Extracting features from the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0071] In this embodiment, the various foot features are respectively static foot features, dynamic pressure features, kinematic features and myoelectric features.

[0072] Extracting features from the pre-processed foot data to obtain various foot features includes: extracting foot geometric features based on the pre-processed static foot scan data, wherein data source features of the foot geometric features include arch height, foot length, foot width, and foot volume;

[0073] In this embodiment, the dynamic pressure feature is extracted based on the preprocessed plantar pressure data and the preprocessed plantar dynamic pressure distribution data, and the data source features of the dynamic pressure feature include plantar pressure distribution, center of gravity trajectory function, and pressure peak value;

[0074] The center of gravity trajectory function is:

[0075] Wherein, t is time, T is the time from one foot landing to the next landing of the same foot, A is the maximum deviation of the center of gravity from the center line in each gait cycle; Y(t) is the angle of the center of gravity trajectory; kinematic features are extracted based on the preprocessed three-dimensional motion trajectory data, and the data source features of the kinematic features include gait cycle, stride, step frequency, and ankle joint angle change function;

[0076] In this embodiment, the joint angle change function is:

[0077] Among them, θ ankle(t) is the change in ankle joint angle over time, A ankle is the maximum amplitude of ankle joint angle change, φ ankle is the phase shift, θ ankle_offset is the basic angle of the ankle joint, t is the time, and T is the time from one foot touching the ground to the next time the same foot touches the ground; the electromyographic features are extracted based on the preprocessed surface electromyographic data of the foot, and the electromyographic features include electromyographic activity level features, electromyographic timing features, and muscle synergy degree features.

[0078] Based on the data source features of each foot feature, a comprehensive feature vector of each foot feature is constructed; based on the data source features, a mechanical analysis is performed on the target to obtain a mechanical analysis result; and an algorithm is used to perform multimodal fusion on each comprehensive feature vector to obtain a foot biomechanics model;

[0079] In this embodiment, constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature specifically includes:

[0080] The comprehensive feature vector of the foot geometric features is: D = (D 1 ,D 2 ,D 3 ,D 4 ); the comprehensive characteristic vector of the dynamic pressure characteristic is: E = (Y 1 , 1,1,1); the comprehensive feature vector of the kinematic feature is: U=(U 1 ,U 2 ,U 3,1); the comprehensive feature vector of the electromyographic feature is: V=(V 1 ,V 2 ,V 3 ,1); where D 1 ,D 2 ,D 3 ,D 4 They are arch height, foot length, foot width, and foot volume, respectively. 1 is the peak pressure, U 1 ,U 2 ,U 3 are gait cycle, stride length, and frequency, respectively. 1 ,V 2 ,V 3 They are the characteristics of EMG activity level, EMG timing, and muscle synergy degree;

[0081] In this embodiment, performing mechanical analysis on the target based on the data source characteristics to obtain a mechanical analysis result includes:

[0082] Based on the plantar pressure distribution, the pressure concentration area and the abnormal pressure point are obtained; based on the center of gravity trajectory function and the joint angle function, the center of gravity trajectory and the ankle joint angle change are obtained; the center of gravity trajectory and the ankle joint angle are compared with the standard center of gravity trajectory range and the standard bare joint angle range, and the center of gravity trajectory and angle that exceed the standard range are regarded as abnormal center of gravity trajectory and abnormal ankle joint angle. If the time of the abnormal center of gravity trajectory and the abnormal ankle joint angle exceeds a threshold, it is considered that an abnormal movement pattern exists.

[0083] In this embodiment, the foot biomechanics model is: f(D,E,U,V)=D·(E×U)+V·E;

[0084] Among them, f(D,E,U,V) is the biomechanical value of the foot.

[0085] The insole is 3D printed based on the mechanical analysis results and the foot mechanical model.

[0086] After the insole is printed, it can be tried on and adjusted: the patient tries on the customized insole, collects dynamic data, evaluates the actual effect of the insole, and makes adjustments based on the feedback. Then a final evaluation is conducted: the adjusted insole is tried on again and data is collected to confirm the final effect of the insole and ensure that it meets individual needs.

[0087] In this embodiment, 3D printing of the insole based on the mechanical analysis results and the foot biomechanical model includes:

[0088] The contour shape of the insole is determined based on the foot length, foot width and foot volume of the foot geometric characteristics; the pressure concentration area is the support area of ​​the insole; the pressure abnormal point is the shock absorption area of ​​the insole; if there is an abnormal movement pattern, the thickness of the insole is reduced by a fixed value; if the foot biomechanical value is less than the first threshold, EVA material is selected; if the foot biomechanical value is greater than or equal to the first threshold and less than the second threshold, PU material is selected; if the foot biomechanical value is greater than the second threshold, silicone material is selected.

[0089] The present invention determines the design parameters of the insole, such as the support area, the shock absorption area, the pressure distribution optimization, etc., based on the biomechanical analysis values. Functional design: According to the functional requirements of different shoes (such as sports shoes, casual shoes, work shoes, etc.), targeted functional design is carried out, such as shock absorption, anti-slip, support, etc. Material selection: According to the design requirements, appropriate 3D printing materials are selected to ensure the comfort and functionality of the insole.

[0090] Based on the method of the present invention, sports shoe insoles, casual shoe insoles and work shoe insoles can also be made according to the biomechanical values ​​of the foot; for athletes, data collection and analysis are performed through this system to design insoles with specific support, shock absorption and anti-slip functions. After the patient tries on, the insole is fine-tuned through data collection and analysis again, and finally the most suitable personalized sports shoe insole is obtained to improve sports performance and reduce sports injuries. For daily wear, the insole with comfort and breathability is designed through data collection and analysis by this system. After the patient tries on, the insole is fine-tuned through data collection and analysis again, and finally the most suitable personalized casual shoe insole is obtained to improve the comfort of daily wear. For working people who stand or walk for a long time, data collection and analysis are performed through this system to design insoles with high durability and decompression function. After the patient tries on, the insole is fine-tuned through data collection and analysis again, and finally the most suitable personalized work shoe insole is obtained to reduce foot fatigue and pain.

[0091] Although the various steps in the above embodiment are described in the above-mentioned order, those skilled in the art can understand that in order to achieve the effect of this embodiment, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple changes are within the scope of protection of the present invention.

[0092] A personalized insole manufacturing system based on three-dimensional motion capture and 3D printing according to a second embodiment of the present invention comprises:

[0093] A data acquisition module is used to acquire the foot data of the target; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0094] A preprocessing module, used for preprocessing the foot data of the target to obtain preprocessed foot data;

[0095] A data feature extraction module, used for extracting features from the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0096] A data analysis module, configured to construct a comprehensive feature vector of each foot feature based on the data source features of each foot feature; perform mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and perform multimodal fusion of each comprehensive feature vector using an algorithm to obtain a foot biomechanics model;

[0097] A 3D printing module is used to perform 3D printing of insoles based on the mechanical analysis results and the foot mechanical model.

[0098] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0099] It should be noted that the personalized insole manufacturing system based on three-dimensional motion capture and 3D printing provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiments can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0100] An electronic device according to the third embodiment of the present invention comprises: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned personalized insole production method based on three-dimensional motion capture and 3D printing.

[0101] A computer-readable storage medium according to a fourth embodiment of the present invention stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned personalized insole manufacturing method based on three-dimensional motion capture and 3D printing.

[0102] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the electronic device and storage medium described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0103] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0104] Reference below Figure 2 , which shows a schematic diagram of the structure of a computer system of a server for implementing the method, system, and device embodiments of the present application. Figure 2 The server shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0105] like Figure 2 As shown, the computer system includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603. Various programs and data required for system operation are also stored in the RAM 603. The CPU 601, ROM 602 and RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0106] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0107] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the above-mentioned functions defined in the method of the present application are executed. It should be noted that the above-mentioned computer-readable medium of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, an apparatus or a device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, an apparatus or a device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0108] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0109] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0110] The terms "first", "second", etc. are used to distinguish similar objects rather than to describe or indicate a particular order or sequence.

[0111] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0112] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for making personalized insoles based on three-dimensional motion capture and 3D printing, characterized in that: The method comprises: Acquire the foot data of the target; the foot data includes static foot scanning data, plantar pressure data under the dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris; Preprocessing the foot data of the target to obtain preprocessed foot data; Extracting features from the pre-processed foot data to obtain various foot features; the various foot features include data source features; Constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature; performing mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and performing multimodal fusion on each comprehensive feature vector to obtain a foot biomechanics model; The insole is 3D printed based on the mechanical analysis results and the foot mechanical model.

2. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 1, characterized in that: The method to obtain the target's foot data is: Perform static scanning on the target's foot, and accurately measure the target's arch height, foot length, and foot width parameters to obtain static foot scanning data; Based on the target's activity type on the dynamic force plate, the plantar pressure distribution is recorded through the force plate, and the pressure changes under different gaits are captured to obtain plantar pressure data; Use the Vicon system to install reflective markers at multiple key points on the target's feet, lower limbs, and torso, and use cameras to capture the three-dimensional motion trajectories of these markers to obtain three-dimensional motion trajectory data; Installing surface electromyography electrodes on the target's foot and lower limb muscle groups to record muscle activity, and obtaining foot surface electromyography data based on the muscle activity; Based on the target's walking on the Zebris pressure measurement system, the dynamic pressure distribution of the sole of the foot is recorded by a high-precision pressure sensor to obtain the dynamic pressure distribution data of the sole of the foot.

3. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 2, characterized in that: Preprocessing the foot data of the target to obtain preprocessed foot data includes: Using a filtering technique to filter the foot data to obtain filtered foot data; The filtered foot data from different devices are time synchronized to obtain pre-processed foot data.

4. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 3, characterized in that: The various foot characteristics are respectively static foot characteristics, dynamic pressure characteristics, kinematic characteristics and myoelectric characteristics.

5. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 4, characterized in that: The foot features obtained by extracting features from the pre-processed foot data include: Extracting foot geometric features based on the preprocessed static foot scan data, wherein the data source features of the foot geometric features include arch height, foot length, foot width, and foot volume; Extracting dynamic pressure features based on preprocessed plantar pressure data and preprocessed plantar dynamic pressure distribution data, wherein data source features of the dynamic pressure features include plantar pressure distribution, center of gravity trajectory function, and pressure peak value; The center of gravity trajectory function is: Where t is time, T is the time from one foot landing to the next landing of the same foot, A is the maximum distance of the center of gravity from the center line in each gait cycle; Y(t) is the angle of the center of gravity trajectory; Extract kinematic features based on the preprocessed three-dimensional motion trajectory data, wherein the data source features of the kinematic features include gait cycle, stride, step frequency, and ankle joint angle change function; The joint angle change function is: Among them, θ ankle(t) is the change in ankle joint angle over time, A ankle is the maximum amplitude of ankle joint angle change, φ ankle is the phase shift, θ ankle_offset is the basic angle of the ankle joint, t is the time, and T is the time from when one foot touches the ground to when the same foot touches the ground again; The electromyographic features are extracted based on the preprocessed surface electromyographic data of the foot, wherein the electromyographic features include electromyographic activity level features, electromyographic timing features, and muscle synergy degree features.

6. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 5, characterized in that: Constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature specifically includes: The comprehensive feature vector of the foot geometric features is: D = (D1, D2, D3, D4); The comprehensive characteristic vector of the dynamic pressure characteristic is: E=(Y1, 1, 1, 1); The comprehensive feature vector of the kinematic feature is: U = (U1, U2, U 3, 1); The comprehensive feature vector of the electromyographic feature is: V = (V1, V2, V 3, 1); Among them, D1, D2, D3, and D4 are arch height, foot length, foot width, and foot volume respectively; Y1 is the pressure peak; U1, U2, and U3 are gait cycle, stride, and step frequency respectively; V1, V2, and V3 are the characteristics of electromyographic activity level, electromyographic timing, and muscle synergy degree respectively.

7. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 6, characterized in that: Performing mechanical analysis on the target based on the data source characteristics to obtain mechanical analysis results includes: Based on the plantar pressure distribution, a pressure concentration area and a pressure abnormality point are obtained; Obtaining the trajectory of the center of gravity and the angle change of the ankle joint based on the center of gravity trajectory function and the joint angle function; The center of gravity trajectory and ankle joint angle are compared with the standard center of gravity trajectory range and the standard bare joint angle range, and the center of gravity trajectory and angle outside the standard range are regarded as abnormal center of gravity trajectory and abnormal ankle joint angle. If the time of the abnormal center of gravity trajectory and abnormal ankle joint angle exceeds the threshold, it is considered that an abnormal movement pattern exists.

8. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 7, characterized in that: The foot biomechanical model is: f(D,E,U,V)=D·(E×U)+V·E; Among them, f(D,E,U,V) is the biomechanical analysis value.

9. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 8, characterized in that: The 3D printing of the insole based on the mechanical analysis results and the foot biomechanical model includes: Determining the contour shape of the insole based on the foot length, foot width, and foot volume of the foot geometric characteristics; The pressure concentration area is the support area of ​​the insole; The abnormal pressure point is the shock absorbing area of ​​the insole; If there is an abnormal movement pattern, the thickness of the insole is reduced by a fixed value; If the foot biomechanical value is less than the first threshold, EVA material is selected; if the foot biomechanical value is greater than or equal to the first threshold and less than the second threshold, PU material is selected; if the foot biomechanical value is greater than the second threshold, silicone material is selected.

10. A personalized insole production system based on three-dimensional motion capture and 3D printing, characterized in that: The system comprises: A data acquisition module is used to acquire the foot data of the target; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris; A preprocessing module, used for preprocessing the foot data of the target to obtain preprocessed foot data; A data feature extraction module, used for extracting features from the pre-processed foot data to obtain various foot features; the various foot features include data source features; A data analysis module, configured to construct a comprehensive feature vector of each foot feature based on the data source features of each foot feature; perform mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and perform multimodal fusion of each comprehensive feature vector using an algorithm to obtain a foot biomechanics model; A 3D printing module is used to perform 3D printing of insoles based on the mechanical analysis results and the foot mechanical model.

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