A wearable real-time plantar pressure detection system

Abstract

The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and relates to the technical field of human foot bottom pressure detection. The application discloses a wearable real-time foot bottom pressure detection system and

Description

Technical Field

[0001] The present invention relates to the technical field of human plantar pressure detection, and in particular to a wearable plantar pressure real-time detection system. Background Art

[0002] Contemporary medical research indicates that the distribution and changes in plantar pressure during exercise can accurately reflect the biological characteristics of different individuals' feet. Therefore, accurate measurement and analysis of plantar pressure is beneficial for obtaining biomechanical parameters for different individuals in various exercise postures. By analyzing the distribution and changes in plantar pressure, it is possible to determine whether the lower limb function is normal.

[0003] For real-time plantar pressure monitoring, existing technologies include two mainstream acquisition solutions. One is an external plantar pressure acquisition system, which collects the three-axis forces and torques in a local coordinate system from a six-dimensional force pressure sensor mounted below a three-dimensional force platform or force plate. By synthesizing these forces and torques, the three-dimensional forces and torques at the center of the plantar pressure during walking are obtained. This solution offers high sensitivity, good repeatability, and stability. However, external plantar pressure acquisition systems can only be used in laboratory environments. Furthermore, they are bulky, costly, and require multiple components to acquire pressure throughout the gait cycle, making them less portable. The other is a wearable plantar pressure acquisition system, which typically uses a pressure sensor mounted on the sole of a shoe for wearable plantar pressure measurement. This significantly improves portability compared to external plantar pressure acquisition systems and enables wearable, real-time measurement. However, due to the simple design of most plantar pressure shoes, which lack adequate consideration for the placement and fixation of the pressure sensor, they can only measure normal plantar pressure (i.e., pressure perpendicular to the upper surface of the pressure sensor), resulting in low repeatability and large load matching errors. Summary of the Invention

[0004] The embodiments of the present invention provide a wearable plantar pressure real-time detection system, which can solve the problems existing in the prior art.

[0005] The present invention provides a wearable plantar pressure real-time detection system, comprising:

[0006] Pressure sole with multiple limit slots on the top;

[0007] Multiple groups of pressure collection modules are respectively arranged in multiple limit slots, for collecting multiple dimensions of plantar pressure in real time and converting the multiple dimensions of plantar pressure into multiple electrical signals;

[0008] The plantar pressure online calculation module is electrically connected to the multiple pressure acquisition modules and is used to convert multiple electrical signals into multiple real-time plantar pressure data;

[0009] The plantar pressure wireless transmission and analysis module is electrically connected with the plantar pressure online calculation module, used for receiving multiple real-time plantar pressure data, and calculating the plantar synthetic force and synthetic moment according to the multiple real-time plantar pressure data.

[0010] Preferably, the multiple limiting grooves are respectively located at the forefoot, midfoot and heel of the pressure shoe sole, and each group of pressure collection modules comprises:

[0011] A limiting structure is fixedly arranged in the limiting groove;

[0012] A limiting sheet is arranged in the limiting structure;

[0013] A pressure sensor is fixedly arranged on the top of the limiting sheet;

[0014] A support plate is fixedly arranged on the top of the pressure sensor, and the limiting sheet, the pressure sensor and the support plate are connected through a fixing screw;

[0015] The multiple pressure sensors are not of the same size.

[0016] Preferably, the limiting sheet has the same circumferential diameter as the pressure sensor.

[0017] Preferably, the top of the pressure shoe sole is provided with an elastic insole.

[0018] Preferably, the pressure shoe sole is provided with a countersunk groove on both sides for fixing a binding belt.

[0019] Preferably, the plantar pressure online calculation module comprises:

[0020] A voltage amplification module is used for amplifying multiple electrical signals;

[0021] An analog-digital conversion module is electrically connected with the voltage amplification module, used for converting the amplified multiple electrical signals into multiple digital signals;

[0022] A microcontroller is electrically connected with the analog-digital conversion module, used for converting the multiple digital signals into multiple real-time plantar pressure data;

[0023] An LCD display is electrically connected with the microcontroller.

[0024] Preferably, the multiple pressure sensors are respectively connected with serial peripheral interface SPI1, SPI2 and SPI3 of the microcontroller.

[0025] Preferably, the microcontroller is used for converting the multiple digital signals into multiple real-time plantar pressure data, and specifically comprises the following steps:

[0026] Obtaining a multi-channel signal matrix DAT of a single pressure sensor in an empty load state0i ;

[0027] [DAT 0i ]=[zerochn1, zerochn2, zerochn3, zerochn4, zerochn5, zerochn6]

[0028] Obtain the multi-channel signal matrix DATri under load state, and obtain the actual load matrix DAT through matrix operation i ;

[0029] [DAT ri ]=[rawchn1, rawchn2, rawchn3, rawchn4, rawchn5, rawchn6]

[0030] [DAT i ]=[DAT ri ]-[DAT 0i ]=[chn1,chn2,chn3,chn4,chn5,chn6]

[0031] The real plantar pressure and torque matrix R are obtained by decoupling the matrix D. i ;

[0032]

[0033] R i =[DAT i ]*[D] T =[F xi ,F yi ,F zi , M xi , M yi , M zi ]

[0034] Where, zerochni is the pressure signal of the ith channel under no-load condition, rawchni is the pressure signal of the ith channel under load condition, chni is the pressure signal of the ith channel under human body load condition, and F xi ,F yi , F zi , are the three-dimensional forces in different directions detected by the pressure sensor, M xi , M yi , M zi They are the three-dimensional moments in different directions detected by the pressure sensor.

[0035] Preferably, the plantar pressure wireless transmission and analysis module includes:

[0036] The data sending end is used to transmit multiple real-time plantar pressure data to the data receiving and analyzing end via Bluetooth communication;

[0037] The data receiving and analyzing end is used to receive multiple real-time plantar pressure data, perform calculations based on the multiple real-time plantar pressure data, and obtain the plantar composite force and composite torque.

[0038] Preferably, the plantar composite force and composite moment are calculated using the following formula:

[0039]

[0040]

[0041]

[0042]

[0043]

[0044]

[0045] Where, F x ,F y ,F z , are the three-dimensional forces of the complete sole in different directions after synthesis, M x ,M y ,M z These are the three-dimensional moments of the complete plantar in different directions after synthesis.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The top of the pressure sole of the present invention is provided with multiple limiting grooves, and a pressure collection module is provided inside each limiting groove, which can collect forces and moments in multiple dimensions respectively, and can obtain more accurate and comprehensive plantar force conditions. It is particularly suitable for use in the field of human plantar pressure collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A schematic diagram of the process flow of the real-time plantar pressure data detection and analysis system of the present invention;

[0050] Figure 2This is a structural diagram of the real-time plantar pressure acquisition module of the present invention;

[0051] Figure 3 Schematic diagram of the structure of the pressure sole of the present invention;

[0052] Figure 4 Schematic diagram of the process of the online plantar pressure calculation module of the present invention;

[0053] Figure 5 This is a flow chart of the wireless transmission and analysis module of plantar pressure.

[0054] In the figure: 1-pressure sole, 2-front fixing screw, 3-front limiting plate, 4-front pressure sensor, 5-front support plate, 6-elastic insole, 7-middle fixing screw, 8-rear fixing screw, 9-middle support plate, 10-rear support plate, 11-rear pressure sensor, 12-middle pressure sensor, 13-rear limiting plate, 14-middle limiting plate, 1-1-countersunk groove, 1-2-front limiting structure, 1-3-middle limiting structure, 1-4-rear limiting structure. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] Reference Figures 1-2 The present invention provides a wearable plantar pressure real-time detection system, including a pressure sole, a plantar pressure online solution module, a plantar pressure wireless transmission and analysis module and a power supply module. A plurality of limit slots are provided on the top of the pressure sole, and a pressure acquisition module is provided inside each limit slot. The plurality of pressure acquisition modules are used to collect plantar pressures of multiple dimensions in real time and convert them into multiple electrical signals. The plantar pressure online solution module is electrically connected to the plantar pressure real-time solution module, and is used to convert the multiple electrical signals into multiple real-time plantar pressure data. The plantar pressure wireless transmission and analysis module is electrically connected to the plantar pressure online solution module, and is used to receive multiple real-time plantar pressure data and calculate the plantar composite force and composite torque. The power supply module is responsible for providing electrical energy for the operation of the entire system.

[0057] The pressure sole and multiple pressure collection modules form a real-time plantar pressure collection module. Each pressure collection module includes a limiting structure set within a limiting slot, a limiting plate within the limiting structure, a pressure sensor fixed on top of the limiting plate, and a support plate fixed on top of the pressure sensor. The limiting plate, pressure sensor, and support plate are connected by fixing screws.

[0058] The present invention adopts an embedded structure to fix multiple pressure sensors on the pressure sole, so that the designed pressure sole has a thickness substantially the same as that of a normal sports shoe.

[0059] Multiple pressure acquisition modules are located under the forefoot, in the middle of the sole, and under the heel. To determine the optimal placement of multiple pressure sensors within the pressure shoe sole, a high-precision three-dimensional force platform is used to detect the pressure concentration point on the sole of the foot during walking. A local three-dimensional coordinate system is then established at the concentration point, aiming to achieve the largest possible range of three-dimensional composite pressure and torque detection on the sole. After determining the placement of the pressure sensors, multiple corresponding pressure sensor limiting structures are designed within the sole of the foot. This structure incorporates corresponding blind holes designed within the pressure shoe sole according to the sizes of the multiple pressure sensors, and reinforcement ribs are placed around the blind holes to enhance structural strength.

[0060] The multiple pressure sensors of the present invention are of varying sizes. Separate stoppers are designed for each size. The bottom of the pressure sensor is connected to the stopper with screws. The stopper groove structure designed into the pressure shoe sole cooperates with the stopper to limit the displacement and rotation of the pressure sensor. A support plate is screwed to the top of the pressure sensor to increase the contact area between the pressure sensor and the sole of the foot, thereby improving the detection range of plantar pressure.

[0061] The circumferential diameter of the stopper is the same as that of the pressure sensor. If the area of ​​the stopper is larger than that of the pressure sensor, the area occupied by the front detection module on the pressure shoe sole will increase, which is not conducive to the miniaturization of the device. If the area of ​​the stopper is smaller than that of the pressure sensor, the pressure sensor may be unevenly stressed during wear, resulting in large detection errors.

[0062] An elastic insole is installed on the top of the compression shoe sole. In order to improve the wearer's comfort, the elastic insole is bonded to the support plate so that the contact surface between the compression shoe and the sole of the foot has a certain cushioning capacity.

[0063] There are countersunk grooves on both sides of the compression shoe sole for fixing the straps. The countersunk grooves are arranged on the edge of the compression shoe, and the fixing straps are installed in the form of stepped grooves. By binding and fixing the subject's feet, the shoe can be put on and real-time detection of plantar pressure can be performed.

[0064] Reference Figure 2 and Figure 3In this embodiment, the multiple pressure collection modules include a front pressure collection module, a middle pressure collection module, and a rear pressure collection module, which are disposed within the compression sole 1. The front pressure collection module includes a front stopper 3, a front pressure sensor 4, and a front support plate 5, connected by a front fixing screw 2. The middle pressure collection module includes a middle stopper 14, a middle pressure sensor 12, and a middle support plate 9, connected by a middle fixing screw 7. The rear pressure collection module includes a rear stopper 13, a rear pressure sensor 11, and a rear support plate 10, connected by a rear fixing screw 8.

[0065] The compression sole 1 is shaped according to the structure of the human foot, conforming to ergonomics. The top of the compression sole 1 features front, middle, and rear stopper slots that mate with the front, middle, and rear pressure collection modules. The front stopper slot houses a front stopper structure 1-2 for securing the front stopper plate 3. The middle stopper slot houses a middle stopper structure 1-3 for securing the middle stopper plate 14. The rear stopper slot houses a rear stopper structure 1-4 for securing the rear stopper plate 13.

[0066] The circumferential diameter of the front limiting piece 3 is the same as the circumferential diameter of the front pressure sensor 4, the circumferential diameter of the middle limiting piece 14 is the same as the circumferential diameter of the middle pressure sensor 12, and the circumferential diameter of the rear limiting piece 13 is the same as the circumferential diameter of the rear pressure sensor 11. The circumferential diameter of the front limiting piece 3 is the same as the circumferential diameter of the front pressure sensor 4, ensuring that the contact area between the front limiting piece 3 and the plantar pressure shoe sole 1 is the same.

[0067] The screw holes of the front limit plate 3 and the front support plate 5 are designed with countersunk holes, the screw holes of the middle limit plate 14 and the middle support plate 9 are designed with countersunk holes, and the screw holes of the rear limit plate 13 and the rear support plate 10 are designed with countersunk holes to ensure the flatness of the upper and lower contact surfaces.

[0068] The front support plate 5, the middle support plate 9 and the top of the rear support plate 10 are adhered with an elastic insole 6. The pressure sole 1 is internally designed with a countersunk groove 1-1.

[0069] Reference Figure 4, the plantar pressure online solution module receives the voltage signal from the plantar pressure real-time acquisition module force pressure sensor to solve the plantar pressure online. In order to ensure the detection accuracy of the pressure sensor and avoid the signal interference between different pressure sensors, the pressure sensor adopts differential acquisition and independent signal processing channel, which is connected with serial peripheral interface SPI1, SPI2, SPI3 of microcontroller (MCU) respectively. Since the original voltage signal amplitude output by the front pressure sensor 3, the middle pressure sensor 6 and the rear pressure sensor 8 selected in the application is 0-10mV, which cannot be directly converted into digital signal by using external AD acquisition module, therefore the voltage range of the voltage signal output after being amplified by the voltage amplification module is 0-3V. The external AD acquisition module is a high-speed, low-power analog-to-digital converter, which can realize higher resolution data sampling. After the voltage signal is transmitted to the external AD acquisition module to be converted into digital signal by the voltage amplification module, the digital signal is sent to the microcontroller (MCU) for data processing, and the digital signal is converted into real-time plantar pressure value by decoupling algorithm, and the specific implementation method is as follows by taking a single pressure sensor as an example:

[0070] Obtain multi-channel signal matrix DAT of single pressure sensor in no-load state 0i ;

[0071] [DAT 0i ]=[zerochn1,zerochn2,zerochn3,zerochn4,zerochn5,zerochn6]

[0072] Obtain multi-channel signal matrix DAT under load state ri , obtain actual load matrix DAT by matrix operation i ;

[0073] [DAT ri ]=[rawchn1,rawchn2,rawchn3,rawchn4,rawchn5,rawchn6]

[0074] [DAT i ]=[DAT ri ]-[DAT 0i ]=[chn1,chn2,chn3,chn4,chn5,chn6]

[0075] Obtain real plantar pressure and torque matrix representation R by decoupling matrix D i ;

[0076]

[0077] R i =[DAT i ]*[D]T = [F xi , F yi , F zi , M xi , M yi , M zi ]

[0078] wherein zerochni is the pressure signal of the i-th channel under no load condition, rawchni is the pressure signal of the i-th channel under load condition, chni is the pressure signal of the i-th channel under human load condition, F xi , F yi , F zi , M xi , M yi , M zi are the three-dimensional force and moment detected by the pressure sensor, respectively.

[0079] The LCD display is connected with the microcontroller (MCU), and the plantar pressure and moment in each local coordinate calculated are displayed in real time to realize online calculation of plantar pressure and data visualization.

[0080] Referring to Figure 5 , the plantar pressure wireless transmission and analysis module includes a data sending end and a data receiving and analyzing end. The data sending end controls the Bluetooth transmitting module to send data packets by the microcontroller (MCU), wherein two IO ports are responsible for controlling the transmission direction of data and the Bluetooth state, the RXD and TXD pins are used for data transmission between the microcontroller (MCU) and the Bluetooth transmitting module, and the VCC and GND pins are used for power supply of the Bluetooth transmitting module. The data receiving and analyzing end includes a Bluetooth receiving module, a USB-UART module and a plantar pressure analysis and solving software. The Bluetooth receiving module realizes Bluetooth communication with the plantar pressure analysis and solving software through the USB-UART module, receives the plantar pressure data packet to calculate the resultant force and moment, and the specific calculation method is as follows:

[0081] Since the multiple pressure sensors in the system have their own local coordinate systems, it is assumed that the center point of the plantar pressure is located at the origin of the pressure sensor 1. The pressure and moment of the pressure sensors 2 and 3 are combined to the coordinate system of the pressure sensor 1 to calculate the axial force (F x , F y and F z ) and the moment (M x , M y and M z ) relative to each axis in the coordinate system of the pressure sensor 1.

[0082]

[0083]

[0084]

[0085]

[0086]

[0087]

[0088] Where, F x , F y , F z ,M x ,M y ,M z They are the three-dimensional force and moment of the complete plantar synthesized by the algorithm.

[0089] Through the above calculations, the real-time plantar pressure and torque at the pressure center point in a certain coordinate system can be directly obtained, providing a data basis for calculating the center of mass position, acceleration and velocity of the human foot.

[0090] When worn, the system enables real-time plantar pressure detection, online calculation, wireless transmission, and data analysis and storage under different motion states, providing a data foundation for calculating the stress on the lower limb joints. The system comprises a plantar pressure real-time acquisition module, an online plantar pressure calculation module, a plantar pressure wireless transmission and analysis module, and a power module. The plantar pressure real-time acquisition module uses multiple pressure sensors to detect plantar pressure changes and generate a raw voltage signal. The online plantar pressure calculation module receives the raw voltage signal from the plantar pressure real-time acquisition module, amplifies it, performs analog-to-digital conversion, and performs data calculation, converting it into a true plantar pressure value for real-time display. The plantar pressure wireless transmission and analysis module includes a data transmitter and a data receiver. The data transmitter is responsible for packaging the plantar pressure data and transmitting it to the data receiver via Bluetooth communication, which then completes the data analysis and storage. The power module provides power for the entire system. The present invention realizes the real-time collection, online calculation, visual display, wireless transmission and analysis and storage of plantar pressure and torque during human walking through the combination of a real-time plantar pressure collection module, an online plantar pressure calculation module, a plantar pressure wireless transmission and analysis module and a power supply module. During use, the real-time changes of plantar pressure and torque can be accurately detected and analyzed, which is of great significance for judging whether the function of the lower limbs of the human body is normal. It can be widely used in the fields of medical treatment, rehabilitation equipment research and development and evaluation, and has good application prospects.

[0091] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0092] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A wearable plantar pressure real-time detection system, characterized in that: include: Pressure sole with multiple limit slots on the top; Multiple groups of pressure acquisition modules are respectively arranged in multiple limit slots, for real-time acquisition of multiple dimensions of plantar pressure, and converting the multiple dimensions of plantar pressure into multiple electrical signals; each group of pressure acquisition modules includes a pressure sensor; The plantar pressure online calculation module is electrically connected to the multiple pressure acquisition modules and is used to convert multiple electrical signals into multiple real-time plantar pressure data; The plantar pressure wireless transmission and analysis module is electrically connected to the plantar pressure online solution module, and is used to receive a plurality of real-time plantar pressure data, perform solution based on the plurality of real-time plantar pressure data, and obtain the plantar composite force and composite torque; The plantar pressure online calculation module includes: A voltage amplification module, used to amplify multiple electrical signals; an analog-to-digital conversion module, electrically connected to the voltage amplification module, and configured to convert the amplified multiple electrical signals into multiple digital signals; a microcontroller, electrically connected to the analog-to-digital conversion module, for converting the multiple digital signals into multiple real-time plantar pressure data; An LCD display electrically connected to the microcontroller; The microcontroller is used to convert multiple digital signals into multiple real-time plantar pressure data, specifically including the following steps: Get the multi-channel signal matrix of a single pressure sensor in the no-load state ; Get the multi-channel signal matrix under load , the actual load matrix is ​​obtained through matrix operation ; Through the decoupling matrix Get the true plantar pressure and torque matrix representation ; Where, For the The pressure signal of each channel under no-load condition, For the The pressure signal of each channel under load, For the The pressure signal of each channel under human body load, They are the three-dimensional forces in different directions detected by the pressure sensor, They are the three-dimensional moments in different directions detected by the pressure sensor; The plantar pressure wireless transmission and analysis module includes: The data sending end is used to transmit multiple real-time plantar pressure data to the data receiving and analyzing end via Bluetooth communication; The data receiving and analyzing terminal is used to receive multiple real-time plantar pressure data, and perform calculations based on the multiple real-time plantar pressure data to obtain the plantar composite force and composite torque; Multiple real-time plantar pressure data are calculated using the following formula: Where, They are the three-dimensional forces of the complete sole in different directions after synthesis, These are the three-dimensional moments of the complete plantar in different directions after synthesis.

2. A wearable plantar pressure real-time detection system as claimed in claim 1, characterized in that: The plurality of limiting grooves are respectively located at the forefoot, mid-sole and heel of the pressure shoe sole, and each group of pressure collection modules includes: A limiting structure, fixedly arranged inside the limiting groove; A limiting piece is arranged inside the limiting structure; the pressure sensor is fixedly arranged on the top of the limiting piece; A support plate is fixedly arranged on the top of the pressure sensor, and the limit plate, pressure sensor and support plate are connected by fixing screws; The sizes of the plurality of pressure sensors are different.

3. A wearable plantar pressure real-time detection system as claimed in claim 2, characterized in that: The circumferential diameter of the limiting piece is the same as the circumferential diameter of the pressure sensor.

4. A wearable plantar pressure real-time detection system as claimed in claim 1, characterized in that: An elastic insole is provided on the top of the pressure sole.

5. A wearable plantar pressure real-time detection system as claimed in claim 1, characterized in that: Countersunk grooves for fixing straps are provided on both sides of the pressure sole.

6. A wearable plantar pressure real-time detection system as claimed in claim 1, characterized in that: The multiple pressure sensors are respectively connected to the serial peripheral interfaces SPI1, SPI2 and SPI3 of the microcontroller.

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