Adjustable universal shoe cover and exoskeleton sole pressure collection device

Abstract

This invention discloses an adjustable universal shoe cover and exoskeleton foot pressure acquisition device, belonging to the field of wearable sensing technology. Addressing the problems of slow sensor response, susceptibility to interference, poor versatility, and easy damage in existing exoskeleton foot pressure acquisition systems, this invention employs an airbag-type pressure sensing principle, integrating a dual-area pressure detection unit into the hollow interlayer of the shoe sole. Universal shoe cover compatibility is achieved through a telescopic adjustment plate and tension strap. A signal processing module wirelessly transmits the acquired pressure data to a host computer. An independently installable acquisition device is also provided, compatible with various types of footwear. This invention offers high acquisition accuracy, good stability, and strong versatility, accurately capturing dynamic changes in foot pressure, significantly improving the accuracy of exoskeleton gait recognition and assistive coordination, and is suitable for various scenarios such as mechanical exoskeletons, rehabilitation training, and motion analysis.

Description

Technical Field

[0001] This invention belongs to the field of radio frequency identification and wearable sensing technology, and particularly relates to an adjustable universal shoe cover and exoskeleton foot pressure acquisition device. Background Technology

[0002] Wearable mechanical exoskeletons are primarily used for assisting walking and carrying heavy loads, with accurate gait phase recognition being a prerequisite for adaptive assistance. Currently, gait judgment on mechanical exoskeletons largely relies on inertial sensors or angle sensors at limb joints. These methods struggle to directly capture the force interaction between the foot and the ground, leading to issues such as delayed gait phase judgment and deviations in assistance timing. This results in poor coordination between the exoskeleton and human movement, affecting assistance effectiveness and even increasing the burden on the human body. Some existing solutions attempt to use plantar pressure sensors for auxiliary judgment, but these often employ piezoresistive or capacitive sensors, which suffer from slow response speeds, susceptibility to environmental humidity, and poor long-term stability. Furthermore, their sensor layout is often unreasonable, failing to comprehensively capture pressure changes in different areas of the foot and making it difficult to accurately distinguish between different gait phases such as standing, walking, and climbing stairs, thus failing to meet the high-precision requirements of adaptive assistance in mechanical exoskeletons.

[0003] In addition, most existing plantar pressure sensors are embedded inside the insole, which is easily damaged by friction from foot movement during use. Furthermore, the poor fit between the sensor and the sole leads to a decrease in pressure acquisition accuracy. At the same time, most existing plantar pressure sensors are of a single type, which makes it difficult to meet the needs of different application scenarios, resulting in problems such as poor versatility, insufficient durability, and unstable data transmission. Summary of the Invention

[0004] This invention provides an adjustable universal shoe cover and exoskeleton foot pressure acquisition device, achieving the following objectives: by setting an air pressure sensor on the bottom of the shoe, the device utilizes the advantages of the air pressure sensor to achieve accurate and real-time acquisition of foot pressure, accurately capturing the pressure distribution and dynamic changes in different areas of the foot, providing reliable data support for various application scenarios, and optimizing the sensor installation method to improve its durability, versatility, and fit with the shoe sole, thus solving many shortcomings in the prior art and meeting the actual needs of accurate foot pressure monitoring in multiple scenarios.

[0005] To solve the above technical problems, the present invention adopts the following technical solution: an adjustable universal shoe cover, including a front sole, a rear sole, a toe cap and a heel cap, the bottom of the toe cap is fixedly disposed on the front side of the front sole, the bottom of the heel cap is fixedly disposed on the rear side of the heel cap, a telescopic adjustment plate is provided between the rear part of the front sole and the front part of the rear sole, and a tension adjustment strap is provided between the upper part of the toe cap and the upper part of the heel cap; The forefoot sole has a hollow inner layer containing a foot pressure detection unit; the heel sole has a hollow inner layer containing a heel pressure detection unit; a signal processing module is embedded inside the heel sleeve; the signal processing module receives the pressure signals monitored in real time by the foot pressure detection unit and the heel pressure detection unit, and transmits the pressure signals to the host computer via wireless communication.

[0006] Furthermore, the foot pressure detection unit includes a front airbag, a front air pressure sensor is provided at the rear of the front airbag, and a front air nozzle is provided on the left or right side of the front airbag, with the outer end of the front air nozzle flush with the side of the front sole.

[0007] Furthermore, the heel pressure detection unit includes a rear airbag, a rear air pressure sensor is provided at the rear of the rear airbag, and a rear air nozzle is provided on the left or right side of the rear airbag, with the outer end of the rear air nozzle flush with the side of the rear sole.

[0008] Furthermore, there are two tension adjustment straps symmetrically arranged on the left and right sides. Each tension adjustment strap includes a front tension strap, a D-ring buckle, and a rear tension strap. The front end of the front tension strap is fixedly connected to the toe cap, and the rear end of the rear tension strap is fixedly connected to the heel cap. The rear end of the front tension strap and the front end of the rear tension strap are connected by the D-ring buckle.

[0009] Furthermore, the toe cap and heel cap are connected by a flexible fabric, with the tension adjustment strap located on the outside of the flexible fabric.

[0010] The exoskeleton plantar pressure acquisition device includes a foot pressure detection unit, a heel pressure detection unit, and a signal processing module. The signal input terminal of the signal processing module is electrically connected to the signal output terminals of the foot pressure detection unit and the heel pressure detection unit, respectively. The signal processing module receives the pressure signals monitored in real time by the foot pressure detection unit and the heel pressure detection unit, and transmits the pressure signals to the host computer via wireless communication.

[0011] Furthermore, the foot pressure detection unit includes a front airbag, a front air pressure sensor is provided at the rear of the front airbag, and a front air nozzle is provided on the left or right side of the front airbag.

[0012] Furthermore, the heel pressure detection unit includes a rear airbag, a rear air pressure sensor is provided at the rear of the rear airbag, and a rear air nozzle is provided on the left or right side of the rear airbag.

[0013] Using the above technical solution, the specific functions of each component (structure) in this invention are as follows: (a) Universal adjustment and fixing structure for shoe covers Forefoot and heel soles: Serving as the base for the shoe cover, they correspond to the pressure zones of the human foot and heel, respectively, providing a sealed installation space for the pressure detection unit. They also directly contact the ground to transmit foot pressure and are made of wear-resistant and slip-resistant materials to enhance durability.

[0014] Toe cap and heel cap: The toe cap is an elastic structure that adapts to different toe shapes to achieve initial positioning; the heel cap is a rigid structure that wraps around the heel and has a pre-reserved installation groove to protect the internal signal processing module from compression and impact.

[0015] Telescopic adjustment plate: Connects the front and rear soles, adopts a pull-out positioning structure, and can continuously adjust the overall length of the shoe cover to fit different shoe sizes from 35 to 45, achieving universal shoe cover design.

[0016] Tensioning adjustment straps: symmetrically arranged on the left and right sides, the total length can be adjusted by the D-ring buckle to tighten the toe and heel, so that the shoe cover fits the shoe tightly, preventing slippage and displacement during walking, and ensuring the stability of pressure collection.

[0017] Flexible fabric: It seals the gap in the middle of the shoe cover, wraps around the foot, and prevents dust and debris from entering, while not affecting the stretch and adjustment, thus improving the comfort and sealing of the shoes.

[0018] (ii) Foot pressure detection unit Hollow front and hollow rear layers: These are respectively located inside the forefoot and rearfoot soles, providing independent sealed spaces for the airbags. This ensures that when the airbags are compressed, only internal air pressure changes occur, isolating them from external environmental interference.

[0019] Front and rear airbags: flexible pressure-bearing components that completely fill the corresponding hollow sandwich layer; when foot pressure is applied, the airbags deform, linearly converting mechanical pressure into changes in internal air pressure, achieving non-contact conversion of pressure signals.

[0020] Front and rear air pressure sensors: High-precision MEMS air pressure sensors are sealed to the corresponding airbags to collect air pressure changes in real time and convert them into electrical signals; the response speed is at the millisecond level, unaffected by humidity, and drift-free with long-term use.

[0021] Front and rear air valves: One-way valve type air valves, with the outer end flush with the side of the shoe sole; used to adjust the initial air pressure of the airbag, adapting to users of different weights, and facilitating airbag inflation maintenance and replacement.

[0022] (III) Signal Processing and Transmission Module Signal processing module: integrates a microcontroller, wireless communication unit (Bluetooth 5.0 / WiFi / ZigBee) and rechargeable lithium battery; receives, filters and amplifies the barometric pressure sensor signal, and wirelessly transmits the processed pressure data to the host computer (exoskeleton controller / rehabilitation terminal), with a battery life of ≥72 hours.

[0023] In summary, the overall technical effects of this invention are as follows: (1) Significantly improved acquisition performance: The use of airbag-type air pressure sensor to replace the traditional piezoresistive / capacitive sensor solves the problems of slow response, susceptibility to humidity interference, and poor long-term stability; Dual-area independent detection can fully capture the dynamics of plantar pressure and accurately distinguish gait phases such as standing, walking, and going up and down stairs, reducing the timing deviation of exoskeleton assistance by more than 80%.

[0024] (2) Strong versatility and adaptability: The structure of telescopic adjustment + tension strap fixation can be adapted to most civilian shoe sizes; at the same time, it provides an independent data collection device, which does not require modification of the original shoes and can be installed on professional sports shoes, work shoes and other special footwear through Velcro / buckles.

[0025] (3) Excellent durability and maintainability: The pressure detection unit is integrated into the midsole to avoid direct friction with the foot, and its service life is more than 3 times longer than that of embedded insoles; the airbag can be independently inflated, deflated and replaced, resulting in low maintenance costs.

[0026] (4) High ease of use: Wireless transmission is free from wiring constraints, and the adjustment of the wearer only takes 30 seconds, without affecting normal exercise; it supports one-click zero-point calibration and is suitable for different altitude environments.

[0027] (5) Wide range of applications: In addition to mechanical exoskeleton assistance, it can also be used in rehabilitation training gait monitoring, sports biomechanical analysis, fall warning for the elderly and other fields. Attached Figure Description

[0028] Figure 1 A schematic diagram of the internal structure of the adjustable universal shoe cover of this invention; Figure 2 A schematic diagram of the external structure of the adjustable universal shoe cover of this invention.

[0029] Explanation of reference numerals in the attached figures: 1-Forefoot sole; 2-Rear sole; 3-Toe cap; 4-Heel cap; 5-Telescopic adjustment plate; 6-Front hollow interlayer; 7-Rear hollow interlayer; 8-Signal processing module; 9-Front airbag; 10-Front air pressure sensor; 11-Front air nozzle; 12-Rear airbag; 13-Rear air pressure sensor; 14-Rear air nozzle; 15-Front tether; 16-D-ring buckle; 17-Rear tether; 18-Flexible fabric. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention. Example

[0031] like Figure 1 and Figure 2As shown, this embodiment provides an adjustable universal shoe cover with integrated data acquisition function, which can be directly worn over everyday shoes.

[0032] The toe cap 3 is made of elastic rubber and is heat-pressed to the front of the forefoot sole 1. The heel cap 4 is made of rigid ABS plastic and is bolted to the rear of the heel sole 2. A rectangular mounting slot is provided inside to house the signal processing module 8, and the slot is sealed with waterproof adhesive. The forefoot sole 1 and the rear heel sole 2 are connected by a pull-out aluminum alloy telescopic adjustment plate 5. Positioning holes are evenly spaced on the plate, and the length is fixed by pins. The adjustment range is 220-280mm, suitable for shoes size 35-45.

[0033] Two nylon tensioning straps are symmetrically arranged on the top of the toe cap 3 and heel cap 4. The front strap 15 is fixed to the toe cap 3 with a rivet at the front end, and the rear strap 17 is fixed to the heel cap 4 with a rivet at the rear end. The two are connected by a D-ring buckle 16, allowing for free adjustment of tightness. Waterproof Oxford cloth flexible fabric 18 is sewn along the sides of the toe cap 3 and heel cap 4 to close the central gap.

[0034] The forefoot sole 1 has a hollow inner layer 6 with a built-in foot pressure detection unit. The forefoot airbag 9 is made of TPU material, shaped to match the pressure area of ​​the forefoot, and completely fills the inner layer. The forefoot air pressure sensor 10 is sealed and connected to the rear air outlet of the forefoot airbag 9. The forefoot air valve 11 is sealed and connected to the left side of the forefoot airbag 9, with its outer end flush with the side of the forefoot sole 1. The heel pressure detection unit inside the hollow inner layer 7 of the rear sole 2 has the same structure as the one on the forefoot side.

[0035] The signal processing module 8 uses an STM32 microcontroller, and the front and rear air pressure sensors are connected to its AD sampling interface via shielded wires. In use, first put on shoe covers and adjust the telescopic adjustment plate and tension straps until they fit snugly. Inflate the airbag with an initial air pressure of 0.02-0.05 MPa using an air pump. After the signal processing module automatically calibrates its zero point, it can begin data acquisition. During walking, the pressure on the sole of the foot causes the airbag to deform. The air pressure sensor converts the pressure change into an electrical signal, which is processed and transmitted in real-time via Bluetooth to the exoskeleton controller. The controller uses this signal to determine the gait phase and output precise assistance.

[0036] Example 2: Independent Exoskeleton Foot Pressure Acquisition Device This embodiment provides a stand-alone data collection device that does not include a shoe cover body, which is suitable for special scenarios where shoe covers cannot be used.

[0037] The device includes a ball-of-the-foot pressure detection unit, a heel pressure detection unit, and a signal processing module 8, with each unit having the same structure as in Embodiment 1. In use, the ball-of-the-foot and heel pressure detection units are attached to corresponding areas of the shoe's inner sole using double-sided waterproof adhesive. The signal processing module is fixed to the outside of the heel using Velcro, and the wires are arranged and fixed along the inside of the shoe. Its working principle is the same as in Embodiment 1, achieving the same pressure acquisition and transmission functions.

[0038] The above description is merely a preferred embodiment of the present invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. For example, the telescopic adjustment plate can adopt other existing telescopic structures, and the wireless communication method can be replaced with ZigBee, etc.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adjustable universal shoe cover, characterized in that: It includes a forefoot sole, a rearfoot sole, a toe cap, and a heel cap. The bottom of the toe cap is fixed to the front side of the forefoot sole, and the bottom of the heel cap is fixed to the rear side of the heel cap. A telescopic adjustment plate is provided between the rear part of the forefoot sole and the front part of the rearfoot sole, and a tension adjustment strap is provided between the upper part of the toe cap and the upper part of the heel cap. The forefoot sole has a hollow inner layer containing a foot pressure detection unit; the heel sole has a hollow inner layer containing a heel pressure detection unit; a signal processing module is embedded inside the heel sleeve; the signal processing module receives the pressure signals monitored in real time by the foot pressure detection unit and the heel pressure detection unit, and transmits the pressure signals to the host computer via wireless communication.

2. The adjustable universal shoe cover according to claim 1, characterized in that: The foot pressure detection unit includes a front airbag, a front air pressure sensor at the rear of the front airbag, and a front air nozzle on the left or right side of the front airbag, with the outer end of the front air nozzle flush with the side of the front sole.

3. The adjustable universal shoe cover according to claim 1, characterized in that: The heel pressure detection unit includes a rear airbag, a rear air pressure sensor at the rear of the rear airbag, and a rear air nozzle on the left or right side of the rear airbag, with the outer end of the rear air nozzle flush with the side of the rear sole.

4. The adjustable universal shoe cover according to claim 1, characterized in that: Two tension adjustment straps are provided symmetrically on the left and right. Each tension adjustment strap includes a front tension strap, a D-ring buckle, and a rear tension strap. The front end of the front tension strap is fixedly connected to the toe cap, and the rear end of the rear tension strap is fixedly connected to the heel cap. The rear end of the front tension strap and the front end of the rear tension strap are connected by the D-ring buckle.

5. An adjustable universal shoe cover according to claim 1, characterized in that: The toe cap and heel cap are connected by a flexible fabric, and the tension adjustment strap is located on the outside of the flexible fabric.

6. An exoskeleton foot pressure acquisition device, characterized in that: It includes a foot pressure detection unit, a heel pressure detection unit, and a signal processing module; the signal input terminal of the signal processing module is electrically connected to the signal output terminals of the foot pressure detection unit and the heel pressure detection unit, respectively; the signal processing module receives the pressure signals monitored in real time by the foot pressure detection unit and the heel pressure detection unit, and transmits the pressure signals to the host computer through wireless communication.

7. The exoskeleton plantar pressure acquisition device according to claim 6, characterized in that: The foot pressure detection unit includes a front airbag, a front air pressure sensor at the rear of the front airbag, and a front air nozzle on the left or right side of the front airbag.

8. The exoskeleton plantar pressure acquisition device according to claim 6, characterized in that: The heel pressure detection unit includes a rear airbag, a rear air pressure sensor is provided at the rear of the rear airbag, and a rear air nozzle is provided on the left or right side of the rear airbag.

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