Reaction force measuring plate and reaction force measuring system

Abstract

The present invention relates to a reaction force measuring plate (1) for detecting the ground reaction force distribution over the ground contact surface of the foot of a hoofed animal or the foot of a person when walking on the ground, having a preferably rigid support plate (3) with a first surface (3a) facing the ground during use and an opposite second surface (3b) facing the hoof or foot, or vice versa, a plurality of flat force-measuring sensors (5) fixed in position on the first surface (3a) of the support plate (3) and at least one temperature measuring sensor (11), which is designed and arranged to detect the temperature of at least one of the force-measuring sensors (5), preferably a plurality of the force sensors (5), particularly preferably all of the force sensors (5).

Description

[0001] Description

[0002] Reaction force measuring plate and reaction force measuring system

[0003] The invention relates to a reaction force measuring plate, particularly intended for use with a hoof boot, hoof, or shoe, and suitable for determining a surface reaction force distribution when a hoof of an ungulate or a human foot strikes the ground. It further relates to a reaction force measuring system comprising such a measuring plate, and a horseshoe, hoof boot, or shoe equipped with such a measuring plate is also claimed.

[0004] For the gait and health analysis of a horse or other hoofed animal (e.g., a camel), it is desirable to record the reaction forces generated when the animal strikes the ground, not just at a single point, but with a certain degree of resolution across the entire hoof impact area. The measured values ​​should allow conclusions to be drawn about the animal's health, for example, with regard to lameness or overloading of the gait apparatus.

[0005] While there are a number of solutions for corresponding tasks in the fields of medical diagnostics, training status analysis, and rehabilitation in humans, the availability of corresponding systems for hoofed animals is limited. There is a commercially available product from Tekscan, as well as systems with a similar purpose, but these are based on measuring acceleration rather than reaction forces.

[0006] From GB 2 482 192 B it is known to attach force sensors for such purposes to a horseshoe and to store their signals locally and / or to transmit them via a wireless transmitter to a remote receiving and evaluation station.

[0007] According to DE 10 2011 016 344 A1, force sensors are inserted into an elastomer body for a corresponding purpose. The elastomer body, which in turn is to be inserted into a hoof boot, is intended to enable the use of commercially available resistive force sensors with their limited force measurement range for reaction force analysis in horses with their relatively high ground pressure.

[0008] US 2020 / 319044 A1 teaches another system for the area-resolved recording of reaction forces on the hooves of an ungulate, which transmits the sensor signals to a remote evaluation unit via a wireless transmitter. This system has a complex construction consisting of a base plate and a floor plate, which are precisely guided relative to each other and between which several force application cylinders and a plurality of resistive force measuring sensors are housed, as well as a microprocessor unit, a communication unit, and a battery for powering the components. The function of the "force application cylinders" is not disclosed in the document, nor is the method of attachment to the hoof.

[0009] DE 102021 211 795.3 (unpublished) describes a reaction force measuring plate for detecting the ground reaction force distribution across the ground contact surface of the foot of a hoofed animal or the foot of a human when it steps on the ground, comprising a rigid support plate with a first surface facing the ground during use and a second surface facing the hoof or foot, a plurality of planar force measuring sensors fixed in a fixed position on the first surface of the support plate and a plurality of elastic force transmission studs, in particular a plurality corresponding to the plurality of force measuring sensors, which are fixed to the free surfaces of the force measuring sensors.

[0010] A disadvantage of such known methods for measuring the force of an ungulate's foot or a human's foot when it strikes the ground, i.e., when it makes contact with the ground, is that the measuring properties of the force sensors used are temperature-dependent or can be influenced by the temperature in the immediate vicinity of the force sensor or its temperature. This can influence or distort the recording of the measured variable from which force values ​​can be determined. This can impair the accuracy or quality of the recorded measured variable or the force value determined or ascertained from it. This can correspondingly impair the results of the force value evaluation.

[0011] One object of the present invention is to improve the possibilities for measuring the force exerted on the foot of a hoofed animal or a human foot as it strikes the ground. In particular, temperature-related influences on the force measurement should be avoided or at least reduced. This should be achieved as simply, cost-effectively, and with as little space and / or weight as possible. At the very least, an alternative to the known methods should be created.

[0012] The object is achieved according to the invention by a reaction force measuring plate, a reaction force measuring system, and a hoof boot, a horseshoe, or a shoe having the features of the independent patent claims. Advantageous further developments are described in the subclaims.

[0013] Thus, the present invention relates to a reaction force measuring plate for detecting the ground reaction force distribution across the ground contact surface of the foot of a hoofed animal or the foot of a human when it strikes the ground, comprising a preferably rigid support plate with a first surface facing the ground during use and an opposite second surface facing the hoof or foot, or vice versa, a plurality of flat force measuring sensors fixed in a fixed position to the first surface of the support plate, and at least one temperature measuring sensor designed and arranged to detect the temperature of at least one of the force measuring sensors, preferably several of the force sensors, particularly preferably all of the force sensors. The ground represents a subsurface which, in principle, can be of any desired nature or made of any desired material.

[0014] The temperature sensor is a temperature-sensitive element that has a temperature-dependent physical quantity whose value can be recorded and converted into a corresponding temperature value. This allows the temperature of the temperature sensor or its immediate surroundings to be recorded and a temperature value to be determined from this. The temperature dependence is preferably linear, at least in the relevant measuring range, which can make recording the sensor value and determining the temperature value easier and / or more accurate. In any case, a PTC (positive temperature coefficient) or an NTC (negative temperature coefficient) element can be used as the temperature sensor or temperature-sensitive element.

[0015] The present invention is based on the finding that the temperature of a force sensor can influence its recorded measured value and thus distort the measurement result, as described above. This is usually all the more relevant the more precise the measurement is required.

[0016] According to the invention, the temperature of the force measuring sensors of the reaction force measuring plate according to the invention is therefore recorded, so that the recorded or determined temperature can be taken into account when evaluating or determining the force measurement values. This can also be achieved by recording the temperature near or in the immediate vicinity of the force measuring sensors.

[0017] This can improve the accuracy of the force measurements. This can be achieved, for example, by using a temperature-dependent factor, which converts a physical quantity measured by the force sensors into a force value. Making the conversion factor temperature-dependent rather than constant can allow the current temperature of the force sensors to be taken into account when determining the force values.

[0018] The reaction force measuring plate according to the invention can have a support plate that is essentially both rigid and incompressible (but possibly elastically flexible). Such a reaction force measuring plate is structurally simple and therefore inexpensive to manufacture, robust in practical use, and easy to handle. It also enables the measurement of reaction forces with sufficient resolution across the entire surface of the hoof, with minimal force spurious effects and therefore high accuracy. It is also flat and lightweight, making it not only easy to use but also easy to transport.

[0019] Preferably, at least five force sensors can be used. Preferably, at least, and particularly preferably, exactly seven force sensors can be used, which can be arranged along the edges. In any case, the force sensors can be arranged at approximately equal distances from one another in the circumferential direction. This can enable representative recording of the force values ​​while simultaneously limiting the effort.

[0020] Preferably, an additional force measuring sensor can be arranged centrally and / or at the edge of the heel of a person's foot or between the heel ends of the foot or hoof of an ungulate, which can increase or improve the significance of the recorded measured values.

[0021] The support plate can, as explicitly formulated and described above, be positioned with the first surface facing the ground during use and the second opposite surface facing the hoof or foot. However, the arrangement can also be reversed, with the support plate being positioned with the first surface facing the hoof or foot during use and the second opposite surface facing the ground. This can increase the usage and design possibilities.

[0022] In particular, the arrangement of the support plate with the first surface facing the hoof or foot during use is advantageous because the force measuring sensors and any elastic force transmission studs then act against the hoof. Accordingly, the support plate does not need to be directly connected to the hoof or horseshoe. Instead, it can be secured, for example, via a hoof boot, which can also be formed by a protective element of the reaction force measuring plate itself, as will be described in more detail below.

[0023] According to one aspect of the invention, the temperature sensor is arranged, preferably centrally, between the force sensors. This allows a measured value to be recorded that can represent the temperatures in the vicinity of the corresponding force sensors. This allows one temperature sensor to be used for multiple force sensors, which can minimize the complexity, installation space, and / or weight of the temperature sensor.

[0024] According to a further aspect of the invention, the temperature measuring sensor is designed to extend over a large area, preferably as a long, preferably meandering, electrical conductor. This can enable or promote a comparatively flat detection of an average temperature, which can accordingly be considered representative of multiple force measuring sensors.

[0025] According to a further aspect of the invention, the temperature measuring sensor is arranged on the first surface of the carrier plate. This can facilitate application because the force measuring sensors and the temperature measuring sensor can be arranged on the same side of the carrier plate.

[0026] According to a further aspect of the invention, the support plate has the shape of a closed horseshoe, circular ring, U, or polygon, in particular with a recess in the center. This allows adaptation for use in various hoofed animals or other vertebrates (including humans).

[0027] According to a further aspect of the invention, the force sensors, together with associated sensor signal lines and optionally power supply lines, are implemented on a continuous sensor carrier film, which is fixed in particular to the first surface of the carrier plate. This can simplify implementation and production.

[0028] According to a further aspect of the invention, the temperature measuring sensor is formed on the continuous sensor carrier film, preferably as a printed electrical line, preferably in a meandering shape. This can also be implemented accordingly for the temperature measuring sensor.

[0029] According to a further aspect of the invention, the force measuring sensors or the sensor carrier film are adhesively bonded to the carrier plate. This can represent a simple implementation. According to a further aspect of the invention, the force measuring sensors or the sensor carrier film are detachably attached to the carrier plate, in particular inserted into suitable guides. If a high degree of configuration flexibility is important for certain applications, the force measuring sensors or the sensor carrier plate can alternatively be detachably attached and, in particular, inserted into suitable guides or braced to one another. It is understood that such solutions are more complex to construct and potentially more susceptible to failure, so they are more likely to be suitable for special applications.

[0030] According to a further aspect of the invention, the effective area of ​​the force measuring sensors is in the range between 0.5 cm 2 and 10 cm 2, especially 2 cm 2 and 5 cm 2 It is understood that when using a relatively large number of force sensors, and especially in configurations of the measuring plate intended for animals with a relatively small hoof or foot area, the effective area may be relatively small, whereas in configurations with a relatively small number of sensors and for animals with a large detection area, it may be closer to or even higher than the upper limit stated as preferred.

[0031] According to a further aspect of the invention, all force sensors are essentially rectangular in shape and have the same geometric shape and effective area. This can facilitate technologically simple and cost-effective manufacturing of the sensors and the configurability of different designs of the measuring plate.

[0032] According to a further aspect of the invention, the force measuring sensors are resistive-dielectric sensors, which in particular comprise a first conductive layer, a dielectric layer on top of this layer, which is surrounded and delimited by a spacer that determines the shape of the force measuring sensor, and a second conductive layer on top of the dielectric layer and the spacer. In addition to the structure mentioned here as a variant, such resistive force measuring sensors can also have a different, known structure. In principle, in addition to resistive-dielectric sensors, piezoelectric, capacitive, or inductive sensors, or electroactive polymers can also be used in the reaction force measuring plate.

[0033] According to a further aspect of the invention, the carrier plate is made of organic sheet, spring steel, or plastic. These can represent concrete implementation possibilities.

[0034] The present invention also relates to a reaction force measuring system comprising a reaction force measuring plate as described above and a wireless sensor signal transmitting unit, in particular according to the Bluetooth standard, attached thereto and connected to the force measuring sensors and the temperature measuring sensor, as well as a sensor signal receiving, evaluation and display device arranged remotely from the reaction force measuring plate, which comprises a wireless sensor signal receiving unit communicating with the sensor signal transmitting unit to the reaction force measuring plate.

[0035] The present invention further relates to a hoof boot, a horseshoe, or a shoe to which a reaction force measuring plate is fixed as described above. Ultimately, a horseshoe or hoof boot (for use on hoofed animals) or a shoe (for use on humans) is proposed which is equipped with a reaction force measuring plate on the underside. In the case of the hoof boot, depending on its specific design, the measuring plate can be arranged on its inside and, if necessary, fixed to the hoof or horseshoe. Although the invention is primarily intended for use on hoofed animals, it is also conceivable to use the reaction force measuring plate according to the invention for certain examinations on humans, for example to obtain information for rehabilitation or training purposes. The human will then wear shoes equipped with the measuring plate according to the invention.An embodiment and further advantages of the invention are explained below in conjunction with the following figures. Therein:

[0036] Fig. 1 shows the structure of an exemplary reaction force measuring plate in a perspective bottom view;

[0037] Fig. 2 is a schematic diagram of an embodiment of a reaction force measuring system according to the invention, in the form of a block diagram; and

[0038] Fig. 3 is a sketch-like representation of the attachment of the reaction force measuring plate according to the invention to a horse's hoof.

[0039] The description of the above figures is given in Cartesian coordinates with a longitudinal direction X, a transverse direction Y perpendicular to the longitudinal direction X and a vertical direction Z perpendicular to both the longitudinal direction X and the transverse direction Y. The longitudinal direction X can also be referred to as depth X, the transverse direction Y as width Y and the vertical direction Z as height Z. The longitudinal direction X and the transverse direction Y together form the horizontal X, Y, which can also be referred to as the horizontal plane X, Y. The longitudinal direction X, the transverse direction Y and the vertical direction Z can together be referred to as spatial directions X, Y, Z or as Cartesian spatial directions X, Y, Z.

[0040] Fig. 1 shows, in a perspective view from below, the structure of an exemplary reaction force measuring plate 1 with a closed, horseshoe-shaped, rigid carrier plate 3 having a first surface 3a and a second surface 3b. Seven resistive force measuring sensors 5 with a corresponding rectangular basic shape are attached to the first surface 3a at equal distances from one another. The free surface of each of the force measuring sensors 5 points downwards towards a substrate (not shown) and thus, for example, away from the horse's hoof H. The force measuring sensors 5 can also be referred to as force sensors 5 or force sensor elements 5. The force measuring sensors 5 are integrally implemented on a sensor carrier film 9, which also carries conductor tracks (not shown) for connecting each sensor.The sensor carrier film 9, together with the force sensors 5 formed thereon, can be manufactured using conventional means of printed circuit board technology, which are known per se to those skilled in the art. The sensor carrier film 9 is applied with its back side to the first surface 3a of the carrier 3.

[0041] In the simplest case, the sensor carrier film 9 can be bonded to the carrier plate 3 using a suitable adhesive. To connect the reaction force measuring plate 1 to the hoof of the vertebrate or to any additional element located between them, the carrier plate in the illustrated embodiment has holes 3c into which, for example, horseshoe nails can be driven or a screw can be inserted.

[0042] A temperature sensor 11, which can also be referred to as a temperature sensor 11 or a temperature sensor element 11, is provided exactly centrally between the force sensors 5. The temperature sensor 11 is also integrally implemented on a sensor carrier film 9, specifically on the same side of the sensor carrier film 9 as the force sensors 5. Both the force sensors 5 and the temperature sensor 11 can be contacted and read from the outside using the conductor tracks or contacts (not shown) of a connection element 13 in the form of a connector outlet 13, as described in more detail below.

[0043] Fig. 2 is a schematic diagram of a reaction force measuring system 17, which can be formed, in particular, with a reaction force measuring plate according to Fig. 1. The illustration is in the form of a functional block diagram and is not intended to show the exact structural implementation of the system components. In addition to the force measuring sensors 5 and temperature measuring sensor 11 already shown in Fig. 1 with their connector outlet 13, the reaction force measuring system 17 each comprises a sensor signal preprocessing unit 19, which is connected to the force measuring sensors 5 and the temperature measuring sensor 11 via the sensor signal lines or via the connector outlet 13, respectively, and serves to effect preprocessing and formatting of the sensor signals that is advantageous for external signal transmission.

[0044] On the output side, the sensor signal preprocessing units 19 are connected to a wireless sensor signal transmitter 21, which can operate according to the Bluetooth standard, for example, but depending on the application, also according to another wireless communication standard. A power source 23 is assigned to the aforementioned components, which in the simplest case is a commercially available primary cell or a rechargeable battery. If a rechargeable battery is used, it can be assigned a charging socket (not shown in the figure) for recharging while installed.

[0045] All of the above-mentioned components are advantageously arranged on the reaction force measuring plate 1, and in particular, protected within its interior, and are referred to here as the hoof component 25. Specifically, the functional units of the hoof component 25 can all be implemented on the sensor carrier film 9.

[0046] When the system is in use, the hoof component 25 is in wireless signal communication via the sensor signal transmitter 21 with a sensor signal receiving, evaluation, and display device 27 located remotely from the animal (or human) to be examined. The device 27 comprises a wireless sensor signal receiver 29 configured to communicate with the sensor signal transmitter 21 on the hoof component 25 and feeds the received signals to a signal evaluation unit 31, where they are evaluated according to a program stored in a program memory 33. When evaluating the measured values ​​of the force measuring sensors 5, the current temperature in the immediate vicinity of the force measuring sensors 5, detected by the temperature measuring sensor 11, can be taken into account in order to improve the accuracy of the force determination.

[0047] Finally, a display unit 35 serves to present the evaluation results, for example, to a therapist or trainer. The components of the sensor signal reception, evaluation, and display device can be implemented, for example, in a notebook, tablet, or smartphone with a suitable evaluation app.

[0048] Fig. 3 shows an example of a possible use of the reaction force measuring plate 1 according to the invention, namely placed inside a hoof shoe 37 of a commercially available type that is attached to a horse's hoof H. In the example shown, the reaction force measuring plate 1 is temporarily fixed to the foot with a suitable, removable adhesive or bonding agent - depending on the design of the hoof shoe - and then the hoof shoe 37 is slipped over it, or the reaction force measuring plate 1 is inserted into the hoof shoe and the hoof shoe is subsequently fixed to the hoof.

[0049] The implementation of the invention is not limited to the examples and aspects mentioned above, but is also possible in a variety of modifications that are within the scope of the appended claims.

[0050] List of reference symbols (part of the description)

[0051] H hoof or horse hoof

[0052] X longitudinal direction; depth

[0053] Y transverse direction; width

[0054] Z vertical direction; height

[0055] X, Y horizontals; horizontal plane

[0056] I Reaction force measuring plate

[0057] 3 Carrier plate; sensor plate

[0058] 3a first surface

[0059] 3b second surface

[0060] 3c Openings

[0061] 5 force measuring sensors; force sensors; force sensor elements

[0062] 9 Sensor carrier film

[0063] II Temperature measuring sensor; temperature sensor; temperature sensor element

[0064] 13 Connection element; plug outlet

[0065] 17 Reaction force measuring system

[0066] 19 sensor signal preprocessing units

[0067] 21 wireless sensor signal transmitter

[0068] 23 Energy source

[0069] 25 Hoof component

[0070] 27 Sensor signal receiving, evaluation and display device

[0071] 29 wireless sensor signal receiver

[0072] 31 Signal evaluation unit

[0073] 33 program memories

[0074] 35 display unit

[0075] 37 hoof boot

Claims

Patent claims 1. Reaction force measuring plate (1) for detecting the ground reaction force distribution across the ground contact surface of the foot of a hoofed animal or the foot of a human when it steps on the ground, comprising a preferably rigid support plate (3) with a first surface (3a) facing the ground during use and an opposite second surface (3b) facing the hoof or foot, or conversely, a plurality of flat force measuring sensors (5) fixed in position to the first surface (3a) of the support plate (3) and at least one temperature measuring sensor (11) which is designed and arranged to detect the temperature of at least one of the force measuring sensors (5), preferably several of the force sensors (5), particularly preferably all of the force sensors (5).

2. Reaction force measuring plate (1) according to claim 1, wherein the temperature measuring sensor (11) is arranged, preferably centrally, between the force measuring sensors (5).

3. Reaction force measuring plate (1) according to claim 1 or 2, wherein the temperature measuring sensor (11) is designed to extend flatly, preferably as a long, preferably meander-shaped electrical conductor.

4. Reaction force measuring plate (1) according to one of the preceding claims, wherein the temperature measuring sensor (11) is arranged on the first surface (3a) of the carrier plate (3).

5. Reaction force measuring plate (1) according to one of the preceding claims, wherein the carrier plate (3) has the shape of a closed horseshoe, circular ring or U or polygon, in particular with a recess in the central region.

6. Reaction force measuring plate (1) according to one of the preceding claims, wherein the force measuring sensors (5) together with associated sensor signal lines and optionally power supply lines are realized on a continuous sensor carrier film (9) which is fixed in particular on the first surface of the carrier plate (3).

7. Reaction force measuring plate (1) according to claim 6, wherein the temperature measuring sensor (11) is further formed on the continuous sensor carrier film (9), preferably as a printed electrical line, preferably meander-shaped.

8. Reaction force measuring plate (1) according to one of the preceding claims, wherein the force measuring sensors (5) or the sensor carrier film (9) are or are glued to the carrier plate (3).

9. Reaction force measuring plate (1) according to one of claims 1 to 7, wherein the force measuring sensors (5) or the sensor carrier film (9) are or are detachably fastened to the carrier plate (3), in particular inserted into suitable guides.

10. Reaction force measuring plate (1) according to one of the preceding claims, wherein the effective area of ​​the force measuring sensors (5) is in the range between 0.5 cm 2 and 10 cm 2 , especially 2 cm 2 and 5 cm 2 , lies.

11. Reaction force measuring plate (1) according to one of the preceding claims, wherein all force measuring sensors (5) are substantially rectangular in shape and have the same geometric shape and effective area.

12. Reaction force measuring plate (1) according to one of the preceding claims, wherein the force measuring sensors (5) are resistive-dielectric sensors, which in particular comprise a first conductive layer, on this a dielectric layer which is surrounded and delimited by a spacer determining the shape of the force measuring sensor (5), and on the dielectric layer and the spacer a second conductive layer.

13. Reaction force measuring plate (1) according to one of the preceding claims, wherein the carrier plate (3) consists of organic sheet, spring steel or plastic.

14. Reaction force measuring system (17), with a reaction force measuring plate (1) according to one of the preceding claims and a wireless sensor signal transmitting unit (21) attached thereto and connected to the force measuring sensors (5) and the temperature measuring sensor (11) in terms of signals, in particular according to the Bluetooth standard, as well as a sensor signal receiving, evaluation and display device (27) arranged remotely from the reaction force measuring plate (1), which comprises a wireless sensor signal receiving unit (29) communicating with the sensor signal transmitting unit (21) on the reaction force measuring plate (1).

15. Hoof shoe (37), horseshoe or shoe to which a reaction force measuring plate (1) according to one of claims 1 to 13 is fixed.

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