A gait detection device based on plantar pressure

Abstract

The present application provides a gait detection device based on plantar pressure. The gait detection device includes: a foot sole plate, plantar air bags, and a signal processing unit; a magic tape is arranged on the foot sole plate, and the magic tape is used to fix the foot of a target object to the foot sole plate; there are multiple plantar air bags, and the multiple plantar air bags are not communicated with each other and are arranged in a matrix on the bottom surface of the foot sole plate; an air pressure detection hole is provided on each plantar air bag, and an air pressure sensor is arranged at the air pressure detection hole to detect the gas pressure in the plantar air bag when the plantar air bag is deformed under pressure during the walking of the target object; the signal processing unit is located on the foot sole plate and is electrically connected to the air pressure sensor, and is used to process the pressure signal of the plantar air bag detected by the air pressure sensor. The deformation of the plantar air bag of the device will not drive the force-bearing deformation of the air pressure sensor, is not affected by the valgus or varus of the ankle joint of the target object, reduces the requirements for detection conditions, and prolongs the service life.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a gait detection device based on plantar pressure. Background Art

[0002] Wearable exoskeleton robots can provide functions such as assistance, protection, and body support for people's lower limbs. They integrate robot technologies such as sensing, control, information acquisition, and mobile computing, and are a human-machine integration system that can complete functions and tasks such as assisted walking under the unconscious control of the operator. However, current lower limb exoskeleton robots still face many problems. For example, during walking, different gait phases will cause different torques applied by each assist joint. It is necessary to distinguish phases such as single-leg support, single-leg swing, and double-leg support to apply appropriate torques to each joint. Without sufficient gait phase transition, the distribution of the torque by the system will undergo a sudden change, resulting in impacts and vibrations, seriously affecting the user experience and walking stability.

[0003] Currently, plantar sensors are usually used to judge the gait phase during human walking. More commonly used are load cells based on strain gauges and thin-film pressure sensors based on the piezoresistive effect to detect plantar pressure. The load cells based on strain gauges have good accuracy, but the volume and weight of load cells with a suitable range are relatively large and they are rigid, not suitable for being arranged on the sole. The thin-film pressure sensors based on the piezoresistive effect are small in volume and weight and can be pasted under the insole, which is convenient to apply. However, since the thin-film pressure sensors are fabricated based on the flexible circuit board preparation process, they can only be bent with a certain radius of curvature in one-dimensional direction and have no elasticity. After being pasted inside the shoe, because the pasting position is not at the neutral layer of the sole, as the human body moves, the sole will bend, and the thin-film pressure sensors in the direction of the insole will bear periodic compressive stress, which is extremely likely to cause the internal wires to break and the entire sensor to fail, with a short service life. Moreover, the initial resistance value and the resistance change value after being pressed of each thin-film pressure sensor also have a large inconsistency, and it is required that the sole be strictly parallel to the ground when the sole touches the ground, otherwise the pressure data cannot be measured, and the usage conditions are relatively harsh.

[0004] In addition, since the thickness of the thin-film pressure sensor is very thin, its detection requires the pressure direction to be perpendicular to the sensor plane. After the thin-film pressure sensor is pasted inside the shoe, if some people have a slight varus or valgus gait, the pressure direction will form a certain angle with the sensor plane, causing the sensor to be unable to detect the signal, resulting in misjudgment of the gait and increasing the difficulty of detection.

[0005] The value after the pressure reaches a certain threshold based on the thin-film pressure sensor is used as a switching quantity to match the set gait pattern. Since the resistance value deviation of the thin-film pressure sensor is large when it leaves the factory, and the use of the switching quantity of the pressure sensor is based on the change in the resistance value, it is necessary to calibrate each one before using the pressure sensor, otherwise there will be a large error, greatly increasing the difficulty and workload of use.

[0006] Therefore, it is necessary to provide an improved technical solution for the deficiencies of the above-mentioned existing technologies. Summary of the Invention

[0007] The purpose of this application is to provide a gait detection device based on plantar pressure to solve or alleviate the problems existing in the above-mentioned existing technologies.

[0008] To achieve the above purpose, this application provides the following technical solutions:

[0009] This application provides a gait detection device based on plantar pressure. The gait detection device includes: a foot plate, plantar airbags, and a signal processing unit; a magic tape is provided on the foot plate, and the magic tape is used to fix the foot of the target object to the foot plate; there are multiple plantar airbags, and the multiple plantar airbags are not connected to each other and are arranged in a matrix on the bottom surface of the foot plate; each plantar airbag is provided with a pressure detection hole, and a pressure sensor is arranged at the pressure detection hole to detect the gas pressure in the plantar airbag when the plantar airbag is deformed under pressure during the walking process of the target object; the signal processing unit is located on the foot plate and is electrically connected to the pressure sensor for processing the pressure signal of the plantar airbag detected by the pressure sensor.

[0010] Optionally, in any embodiment of this application, at least two of the plantar airbags are respectively provided at both ends of the bottom surface of the foot plate, and the at least two plantar airbags are symmetrically arranged along a first direction, where the first direction is the width direction of the foot when the foot of the target object is fixed to the foot plate.

[0011] Optionally, in any embodiment of this application, the pressure sensor is arranged on the surface of the plantar airbag that is in contact with the foot plate.

[0012] Optionally, in any embodiment of this application, a first counterbore is further provided on the plantar airbag, the first counterbore is coaxial with the pressure detection hole, and the pressure sensor is arranged in the first counterbore.

[0013] Optionally, in any embodiment of the present application, a plurality of ventilation holes are further provided on the sole plate. Correspondingly, an inflation hole is further provided on each of the sole air bags. The inflation hole is adapted to the ventilation hole, and a one-way valve is provided at the inflation hole to inflate the sole air bag through the ventilation hole and the one-way valve.

[0014] Optionally, in any embodiment of the present application, a second counterbore is further provided on the sole air bag. The second counterbore is coaxial with the inflation hole, and the one-way valve is disposed in the second counterbore.

[0015] Optionally, in any embodiment of the present application, a wear-resistant sheet is further provided on the sole air bag. The wear-resistant sheet and the sole plate are respectively located on opposite sides of the sole air bag.

[0016] Optionally, in any embodiment of the present application, the inflation pressure in the sole air bag is 50-500 kPa.

[0017] Optionally, in any embodiment of the present application, the signal processing unit transmits the received pressure signal of the sole air bag by wireless transmission.

[0018] Optionally, in any embodiment of the present application, the magic tape includes: a front-foot magic tape and a rear-foot magic tape. Two ends of the front-foot magic tape are respectively fixed to one end of the sole plate by bonding or screw fastening; two ends of the rear-foot magic tape are respectively fixed to the other end of the sole plate by bonding or screw fastening.

[0019] Compared with the closest prior art, the technical solution of the embodiment of the present application has the following beneficial effects:

[0020] The gait detection device based on plantar pressure provided by the embodiment of the present application fixes the foot of the target object on the sole plate through the magic tape provided on the sole plate; enables the target object to wear the gait detection device in the state of wearing his own shoes without taking off the shoes, avoiding the foot health problems that may be caused by multiple people wearing a single gait detection device, and moreover, there is no need to disinfect after wearing, and the wearing process is simple.

[0021] A plurality of independent and non - communicating plantar air bags arranged in a matrix are provided on the bottom surface of the plantar plate. When the target object walks and the plantar air bags are compressed and deformed, the air pressure in the plantar air bags is detected by the air pressure sensors arranged at the air pressure detection holes of the plantar air bags, and then sent to the signal processing unit. On the one hand, since the plantar air bags are arranged in a matrix on the plantar plate and have a certain thickness, when different target objects walk, for the valgus or varus of the ankle joint, the plantar air bags arranged on the plantar plate will be compressed. The change in the volume of the plantar air bags causes the change in the air pressure in the plantar air bags to be transmitted to the air pressure sensors, so that the gait detection device is not affected by the valgus or varus of the ankle joint of the target object, reducing the requirements for detection conditions. On the other hand, the plantar air bags are arranged in a matrix on the plantar plate, and the air pressure sensors are arranged at the air pressure detection holes of the plantar air bags. During the walking process of the target object, the deformation of the plantar air bags will not drive the force - bearing deformation of the air pressure sensors, greatly increasing the service life of the gait detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments and descriptions thereof of this application are used to explain this application and do not constitute an improper limitation of this application. Among them:

[0023] Figure 1 FIG. is a schematic structural diagram of a gait detection device based on plantar pressure according to some embodiments of this application;

[0024] Figure 2 FIG. is a schematic distribution diagram of plantar air bags on the plantar plate according to some embodiments of this application;

[0025] Figure 3 FIG. is a schematic structural diagram of a plantar air bag according to some embodiments of this application;

[0026] Figure 4 FIG. is a schematic structural diagram of an air pressure sensor with temperature compensation according to some embodiments shown in this application;

[0027] Figure 5 FIG. is a schematic system diagram of a signal processing unit according to some embodiments shown in this application;

[0028] Figure 6 FIG. is a schematic diagram of the detection of the air pressure sensor on the plantar air bag during varus or valgus of the foot according to some embodiments of this application;

[0029] Figure 7 FIG. is a schematic diagram of the detection of a thin - film pressure sensor during varus or valgus of the foot according to some embodiments of this application.

[0030] DESCRIPTION OF THE REFERENCE NUMERALS:

[0031] 1 - Wear-resistant piece; 2 - Plantar airbag; 3 - One-way valve; 4 - Air pressure sensor; 5 - Foot sole plate; 6 - Front foot magic tape; 7 - Rear foot magic tape; 8 - Signal processing unit; 9 - Wire; 10 - Inflation hole; 11 - Air pressure detection hole; 12 - Circuit module; 13 - Battery module; 14 - Ventilation hole; 15 - Intake hole; 16 - Inert gas; 17 - Foot; 18 - Thin film pressure sensor. Specific embodiments

[0032] The present application will be described in detail below with reference to the drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present application rather than a limitation of the present application. In fact, those skilled in the art will appreciate that modifications and variations can be made to the present application without departing from the scope or spirit thereof. For example, features shown or described as part of one embodiment can be used in another embodiment to yield yet another embodiment. Accordingly, it is intended that the present application cover such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0033] In the description of the present application, the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application rather than requiring the present application to be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present application. The terms "connected", "connected to", and "disposed" used in the present application should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate component; it can be a wired connection, a radio connection, or a wireless communication signal connection. Those of ordinary skill in the art can understand the specific meanings of the above terms according to specific circumstances.

[0034] Figure 1 Schematic structural diagram of a gait detection device based on plantar pressure provided according to some embodiments of the present application; Figure 2 Schematic diagram of the distribution of the plantar airbag on the foot sole plate provided according to some embodiments of the present application; As Figure 1 、 Figure 2As shown, the gait detection device includes: a foot sole plate 5, a plantar airbag 2, and a signal processing unit 8; a magic tape is provided on the foot sole plate 5, and the magic tape is used to fix the foot 17 of the target object to the foot sole plate 5; there are multiple plantar airbags 2, and the multiple plantar airbags 2 are not communicated with each other and are arranged in a matrix on the ground of the foot sole plate 5; each plantar airbag 2 is provided with a pressure detection hole 11, and a pressure sensor 4 is arranged at the pressure detection hole 11 to detect the gas pressure in the plantar airbag 2 when the plantar airbag 2 is compressed and deformed during the walking process of the target object; the signal processing unit 8 is located on the foot sole plate 5 and is electrically connected to the pressure sensor 4, and is used to process the pressure signal of the plantar airbag 2 detected by the pressure sensor 4. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0035] In the embodiment of the present application, the foot 17 of the target object is fixed to the foot sole plate 5 by the magic tape provided on the foot sole plate 5; the target object can wear the gait detection device in the state of wearing his own shoes without taking off the shoes, avoiding the foot health problems that may be caused by multiple people wearing a gait detection device, and moreover, there is no need to disinfect after wearing, and the wearing process is simple. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0036] In the embodiment of the present application, multiple plantar airbags 2 that are arranged in a matrix and are independent and not communicated with each other are provided on the bottom surface of the foot sole plate 5. When the target object walks and the plantar airbag 2 is compressed and deformed, the gas pressure in the plantar airbag 2 is detected by the pressure sensor 4 arranged at the pressure detection hole 11 of the plantar airbag 2 and sent to the signal processing unit 8. Since the plantar airbags 2 are arranged in a matrix on the foot sole plate 5 and the plantar airbags 2 have a certain thickness, during the walking process of different target objects, for the valgus or varus of the ankle joint, the plantar airbags 2 arranged on the foot sole plate 5 will be compressed, and the change in the volume of the plantar airbag 2 causes the change in the gas pressure in the plantar airbag 2 to be transmitted to the pressure sensor 4, so that the gait detection device is not affected by the valgus or varus of the ankle joint of the target object, and the requirements for detection conditions are reduced. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0037] In the embodiment of the present application, the air inlet hole 15 of the air pressure sensor 4 is communicated with the air pressure detection hole 11, so that the chip of the air pressure sensor 4 is built into the sole airbag 2. The sole airbags 2 are arranged in a matrix on the sole plate 5. During the walking process of the target object, the sole airbags 2 come into contact with the ground and are pressed, resulting in deformation of the sole airbags 2 and causing air pressure changes. The deformation of the sole airbags 2 will not drive the force-bearing deformation of the air pressure sensor 4, greatly increasing the service life of the gait detection device. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0038] In the embodiment of the present application, an air pressure sensor 4 is provided on each sole airbag 2. The air pressure sensor 4 is electrically connected to the signal processing unit 8 and transmits the pressure signal of the gas in the sole airbag 2 to the signal processing unit 8. Since the air pressure sensors 4 have good consistency, it is not necessary to calibrate each one individually like the thin-film pressure sensor 18 before use, effectively reducing the usage difficulty and workload of the gait detection device. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0039] In the embodiment of the present application, the air pressure sensor 4 can also be connected to the upper part of the sole airbag 2 by an adhesive bonding method, and the air inlet hole 15 of the air pressure sensor 4 is communicated with the air pressure detection hole 11 of the sole airbag 2. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0040] In some optional embodiments, at least two of the sole airbags 2 are respectively provided at both ends of the bottom surface of the sole plate 5, and at least two of the sole airbags 2 are symmetrically arranged along a first direction, where the first direction is the width direction of the foot 17 when the foot 17 of the target object is fixed on the sole plate 5. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0041] In the embodiment of the present application, multiple sole airbags 2 are arranged in a matrix on the sole plate 5. At both ends of the bottom surface of the sole plate 5, that is, in the length direction of the foot 17 of the target object, at least two sole airbags 2 symmetrically arranged along the width direction of the foot 17 are provided corresponding to the front sole, and at least two sole airbags 2 symmetrically arranged along the width direction of the foot 17 are provided corresponding to the heel. Thereby, for the valgus or varus of the ankle joint of different target objects, the sole airbags 2 arranged in a matrix are all deformed under pressure by the corresponding sole airbags 2, realizing effective detection of target objects with different walking postures. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0042] In the embodiments of the present application, the sole airbags 2 are distributed on the bottom surface of the sole plate 5 in a matrix manner and are connected to the bottom surface of the sole plate 5 by an adhesive method. A plurality of sole airbags 2 (for example: 4 to 100) are arranged in at least two rows along the width direction of the foot 17 of the target object at the heel and the front sole, and at least two rows of sole airbags 2 are arranged along the length direction of the foot 17. Each sole airbag 2 is not connected to each other and is independent. The pressure of the inert gas 16 filled in each sole airbag 2 is 50 - 500 kPa (for example, 50 kPa, 100 kPa, 150 kPa, 200 kPa, 300 kPa, 450 kPa or 500 kPa). It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0043] In some alternative embodiments, the air pressure sensor 4 is arranged on the surface of the sole airbag 2 that is in contact with the sole plate 5. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0044] In the embodiments of the present application, the air pressure sensor 4 is arranged on the upper part of the sole airbag 2, that is, the air pressure sensor 4 is located between the sole airbag 2 and the sole plate 5. Thus, during the walking process of the target object, when the sole airbag 2 is compressed and deformed, it will not cause deformation to the air pressure sensor 4. Compared with the thin-film pressure sensor 18, the service life is greatly increased. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0045] Figure 3 FIG. is a schematic structural diagram of the sole airbag 2 provided according to some embodiments of the present application; as Figure 3 shown, a first counterbore is further provided on the sole airbag 2. The first counterbore is coaxial with the air pressure detection hole 11, and the air pressure sensor 4 is arranged in the first counterbore. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0046] In the embodiments of the present application, the first counterbore is coaxial with the air pressure detection hole 11. By installing the air pressure sensor 4 in the first counterbore and being located on the upper part of the sole airbag 2, when the sole airbag 2 is connected to the sole plate 5, the influence on the air pressure sensor 4 can be effectively avoided. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0047] In the embodiments of the present application, when the air pressure sensor 4 is placed in the first counterbore, when the sole airbag 2 is compressed and deformed, the air pressure sensor 4 can be effectively prevented from being compressed and deformed, and the service life of the air pressure sensor 4 is improved. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0048] In the embodiment of the present application, the axial section of the part composed of the first counterbore and the air pressure detection hole 11 is T-shaped. Thus, the air pressure sensor 4 is located in the first counterbore above the T-shaped structure, and the chip of the air pressure sensor 4 is built into the sole airbag 2 through the air pressure detection hole 11, so as to effectively protect the air pressure sensor 4. It can be understood that the above description is only exemplary, and the embodiment of the present application does not limit this.

[0049] In some alternative embodiments, a plurality of ventilation holes 14 are further provided on the sole plate 5. Correspondingly, each sole airbag 2 is further provided with an inflation hole 10. The inflation hole 10 is adapted to the ventilation hole 14, and a one-way valve 3 is provided at the inflation hole 10 to inflate the sole airbag 2 through the ventilation hole 14 and the one-way valve 3. It can be understood that the above description is only exemplary, and the embodiment of the present application does not limit this.

[0050] In the embodiment of the present application, the number of ventilation holes 14 opened on the sole plate 5 is the same as the number of sole airbags 2, and the positions of the ventilation holes 14 are consistent with the positions of the one-way valves 3 to inflate the sole airbags 2 through the ventilation holes 14 and the one-way valves 3. The one-way valve 3 can be bonded to the upper part of the sole airbag 2 through the inflation hole 10 on the sole airbag 2. Thus, the pressure in the sole airbag 2 can be controlled in time to ensure the accuracy of pressure detection in the sole airbag 2. It can be understood that the above description is only exemplary, and the embodiment of the present application does not limit this.

[0051] In a specific example, the sole airbag 2 is further provided with a second counterbore. The second counterbore is coaxial with the inflation hole 10, and the one-way valve 3 is arranged in the second counterbore. It can be understood that the above description is only exemplary, and the embodiment of the present application does not limit this.

[0052] In the embodiment of the present application, by arranging the one-way valve 3 in the second counterbore, when the sole airbag 2 is connected to the sole plate 5, the influence on the one-way valve 3 can be effectively avoided. It can be understood that the above description is only exemplary, and the embodiment of the present application does not limit this.

[0053] In the embodiment of the present application, the axial section of the part composed of the second counterbore and the inflation hole 10 is T-shaped. Thus, the one-way valve 3 is located in the second counterbore above the T-shaped structure. When the sole airbag 2 is compressed and deformed, the one-way valve 3 will not be deformed under pressure, effectively extending the service life of the one-way valve 3. It can be understood that the above description is only exemplary, and the embodiment of the present application does not limit this.

[0054] In an embodiment of the present application, inert gas 16 is filled into the plantar airbag 2 through the vent holes 14 on the plantar plate 5 and via the one-way valve 3. Due to the function of the one-way valve 3, the inert gas 16 in the plantar airbag 2 is difficult to leak out through the inflation hole 10, effectively ensuring the airtightness of the plantar airbag 2. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0055] In an embodiment of the present application, the plantar airbag 2 can be processed by an injection molding process. The one-way valve 3 and the pressure sensor 4 can be placed in the injection mold of the plantar airbag 2 during the injection molding process of the plantar airbag 2 and directly coated with the injection molding material. That is, after the injection molding of the plantar airbag 2 is completed, the one-way valve 3 and the pressure sensor 4 are coated in the plantar airbag 2. Thereby, the processing efficiency is effectively improved and the manufacturing process is reduced. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0056] In some alternative embodiments, a wear-resistant sheet 1 is further provided on the plantar airbag 2, and the wear-resistant sheet 1 and the plantar plate 5 are located on opposite sides of the plantar airbag 2 respectively. Thereby, during the walking process of the target object, the plantar airbag 2 is prevented from directly contacting and rubbing against the ground, effectively protecting the plantar airbag 2. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0057] Figure 4 Schematic diagram of the structure of the pressure sensor 4 with temperature compensation according to some embodiments of the present application; as Figure 4 shown, the pressure sensor 4 is a sensor with temperature compensation to effectively eliminate the influence of the pressure change in the plantar airbag 2 caused by the change (increase or decrease) of the ambient temperature on the pressure signal detection, and improve the accuracy and effectiveness of the pressure detection. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0058] In some alternative embodiments, the signal processing unit 8 transmits the received pressure signal of the plantar airbag 2 by a wireless transmission method. Thereby, during the walking process of the target object, the pressure signals of each detected plantar airbag 2 can be sent to the receiving device in real time, so as to analyze the pressure signals and determine the gait phase of the target object. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0059] Figure 5 Schematic diagram of the system of the signal processing unit 8 according to some embodiments of the present application; as Figure 5As shown, a circuit module 12 and a battery module 13 are provided in the signal processing unit 8. The circuit module 12 is electrically connected to the air pressure sensor 4 through a wire 9 and is used to send the received pressure signal of the plantar airbag 2 to a receiving device by means of wireless transmission. The battery module 13 is used to supply power to the circuit module 12. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0060] In the embodiments of the present application, according to the range and accuracy of the air pressure sensor 4, the minimum detection ability of the air pressure sensor 4 can be determined. According to the minimum detection ability, the air pressure sensor 4 can be divided into n pressure detection intervals, where n is a positive integer, and the maximum value of n is the ratio of the range of the air pressure sensor 4 to the minimum detection ability. Since multiple plantar airbags 2 are arranged in a matrix on the foot sole plate 5, therefore, according to the number of rows of the plantar airbags 2 distributed in the horizontal direction on the foot sole plate 5 (assuming m rows, m is a positive integer, and m is greater than or equal to 2), the number of gait phase patterns can be defined as n×m kinds. During the walking process of the target object, the pressure signal obtained by the real-time detection of the pressure in the plantar airbag 2 by the air pressure sensor 4 is an analog quantity. By matching the mean value of the pressure values of each row of air pressure sensors 4 along the width direction of the foot with the defined gait pattern, the gait phase of the target object at this time can be calculated. Conventionally, when the air pressure sensor 4 uses a single switch quantity, the number of gait phase patterns is only m kinds, and the resolution ability of the pressure change of the plantar airbag 2 is relatively low. Therefore, using an analog quantity to perform real-time detection of the pressure change of the plantar airbag 2 and dividing the air pressure sensor 4 into multiple pressure detection intervals as needed can effectively improve the accuracy of the gait detection of the target object and make the gait detection device more adaptable. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0061] In some alternative embodiments, the magic tape includes: a front-foot magic tape 6 and a rear-foot magic tape 7. The two ends of the front-foot magic tape 6 are respectively fixed to one end of the foot sole plate 5 by bonding or screw fastening; the two ends of the rear-foot magic tape 7 are respectively fixed to the other end of the foot sole plate 5 by bonding or screw fastening. Thereby, the foot 17 of the target object can be effectively and quickly fixed on the foot sole plate 5. When testing different target objects, it is not necessary for the target object to take off shoes, which is convenient to wear and also avoids foot hygiene problems. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0062] The gait detection device based on plantar pressure according to the embodiments of the present application, on the one hand, detects plantar pressure through the deformation of the plantar airbag 2, has a compact structure, light weight, low power consumption, and long service life, and can be preferably used to detect the gait phase of the exoskeleton robot during walking with the target object, so that the joint torques of the exoskeleton robot can be effectively and accurately allocated to achieve the compliant control of the exoskeleton robot; on the other hand, during the walking of the target object, due to the buffering effect of the plantar airbag 2, the target object has a good buffering effect when walking, avoiding joint injuries of the target object; on the further hand, due to the deformation characteristics of the plantar airbag 2, when the gait detection device contacts the ground, even if there is a certain inclination angle with the ground, the deformation of the plantar airbag 2 can make the inert gas 16 flow in the plantar airbag 2, thereby detecting the pressure change in the plantar airbag 2 (as Figure 6 shown), realizing the function that the thin-film pressure sensor 18 cannot effectively measure the plantar pressure in the state where the foot has an inclination angle with the ground (as Figure 7 shown), and can have better annular adaptability. It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0063] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gait detection device based on plantar pressure, characterized in that, The gait detection device includes: a foot sole plate, a plantar airbag, and a signal processing unit; A magic tape is provided on the foot sole plate, and the magic tape is used to fix the foot of the target object to the foot sole plate; There are multiple plantar airbags, and the multiple plantar airbags are not communicated with each other and are arranged in a matrix on the bottom surface of the foot sole plate; Each plantar airbag is provided with a pressure detection hole, and a pressure sensor is arranged at the pressure detection hole to detect the gas pressure in the plantar airbag when the plantar airbag is compressed and deformed during the walking of the target object; The plantar airbag is further provided with a first counterbore, the first counterbore is coaxial with the pressure detection hole, and the pressure sensor is arranged in the first counterbore. Among them, the air inlet hole of the pressure sensor is communicated with the pressure detection hole, so that the chip of the pressure sensor is built in the plantar airbag; The signal processing unit is located on the foot sole plate and is electrically connected to the pressure sensor, and is used to process the pressure signal of the plantar airbag detected by the pressure sensor.

2. The gait detection device according to claim 1, wherein, At least two of the plantar airbags are respectively arranged at both ends of the bottom surface of the foot sole plate, and at least two of the plantar airbags are symmetrically arranged along a first direction, where the first direction is the width direction of the foot when the foot of the target object is fixed to the foot sole plate.

3. The gait detection device according to claim 1, wherein The pressure sensor is arranged on the surface of the plantar airbag in contact with the foot sole plate.

4. The gait detection device according to claim 1, characterized in that, The foot sole plate is further provided with a plurality of ventilation holes. Correspondingly, each plantar airbag is further provided with an inflation hole, the inflation hole is adapted to the ventilation hole, and a one-way valve is arranged at the inflation hole to inflate the plantar airbag through the ventilation hole and the one-way valve.

5. The gait detection device according to claim 4, characterized in that, The plantar airbag is further provided with a second counterbore, the second counterbore is coaxial with the inflation hole, and the one-way valve is arranged in the second counterbore.

6. The gait detection device according to claim 1, characterized in that, The plantar airbag is further provided with a wear-resistant sheet, and the wear-resistant sheet and the foot sole plate are respectively located on opposite sides of the plantar airbag.

7. The gait detection device according to claim 1, characterized in that The inflation pressure in the plantar airbag is 50-500 kPa.

8. The gait detection device according to claim 1, wherein The signal processing unit sends the received pressure signal of the plantar airbag by wireless transmission.

9. The gait detection device according to any one of claims 1-8, characterized in that, The magic tape includes: a front foot magic tape and a rear foot magic tape, Both ends of the front foot magic tape are respectively fixed to one end of the foot sole plate by bonding or screw fastening; Both ends of the rear foot magic tape are respectively fixed to the other end of the foot sole plate by bonding or screw fastening.

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