Personalized insole production method and system based on 3D motion capture and 3D printing

Abstract

The present invention belongs to the field of personalized insole production technology, and specifically relates to a personalized insole production method and system based on three-dimensional motion capture and 3D printing, aiming to solve the problem that most existing insoles are generally self-made and lack targeted design for consumers. The present invention includes: pre-processing the foot data of the target to obtain pre-processed foot data; extracting features from the pre-processed foot data to obtain various foot features; constructing comprehensive feature vectors of various foot features based on the data source features of each foot feature; performing mechanical analysis on the target based on the data source features to obtain mechanical analysis results; performing multi-modal fusion of the various comprehensive feature vectors using an algorithm to obtain a foot biomechanical model; and 3D printing of insoles based on the mechanical analysis results and the foot mechanical model. The present invention provides scientific and objective data support for the comprehensive quantitative analysis of the foot movement state, guiding the production of personalized insoles.

Description

Technical Field

[0001] The present invention belongs to the technical field of personalized insole production, and in particular relates to a personalized insole production method and system based on three-dimensional motion capture and 3D printing. Background Art

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

[0003] However, most existing insoles are generally self-made and lack targeted design for consumers, resulting in low adaptability of the insoles to consumers, and low product utilization and resource utilization. Summary of the Invention

[0004] In order to solve the above-mentioned problem in the prior art, namely that most existing insoles are generally self-made and lack targeted design for consumers, the present invention provides a method for producing personalized insoles based on three-dimensional motion capture and 3D printing, the method comprising:

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

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

[0007] Performing feature extraction on the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0008] constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature; performing a mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and performing multimodal fusion on each comprehensive feature vector using an algorithm to obtain a foot biomechanics model;

[0009] 3D printing of the insole is performed based on the mechanical analysis results and the foot biomechanics model.

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

[0011] Performing a static scan on the target's foot, and accurately measuring the target's arch height, foot length, and foot width parameters to obtain static foot scan data;

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

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

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

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

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

[0017] Performing filtering processing on the foot data using a filtering technology to obtain filtered foot data;

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

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

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

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

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

[0023] The center of gravity trajectory function is:

[0024] ;

[0025] Where t is time, T is the time from one foot touching the ground to the next time the same foot touches the ground again, and A is the maximum distance the center of gravity deviates from the center line in each gait cycle; Y(t) is the change of center of gravity trajectory over time;

[0026] Extracting kinematic features based on the preprocessed three-dimensional motion trajectory data, wherein the data source features of the kinematic features include gait cycle, stride length, cadence, and ankle joint angle change function;

[0027] The ankle joint angle change function is:

[0028] ;

[0029] in, is the change in ankle joint angle over time, is the maximum amplitude of ankle joint angle change. is the phase shift, is the basic angle of the ankle joint, t is the time, and T is the time from one foot touching the ground to the next time the same foot touches the ground again;

[0030] Myoelectric features are extracted based on the preprocessed surface electromyographic data of the foot, wherein the myoelectric features include electromyographic activity level features, electromyographic timing features, and muscle synergy degree features.

[0031] In a preferred embodiment, constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature specifically includes:

[0032] The comprehensive feature vector of the foot geometric feature is: D=(D1, D2, D3, D4); the comprehensive feature vector of the dynamic pressure feature is: E=(Y1, 1, 1, 1); the comprehensive feature vector of the kinematic feature is: U=(U1, U2, U 3，1); the comprehensive feature vector of the electromyographic feature is: V=(V1, V2, V3, 1); where D1, D2, D3, and D4 are the arch height, foot length, foot width, and foot volume, respectively; Y1 is the pressure peak; U1, U2, and U3 are the gait cycle, stride length, and step frequency, respectively; V1, V2, and V3 are the electromyographic activity level feature, electromyographic timing feature, and muscle synergy degree feature, respectively;

[0033] In a preferred embodiment, performing mechanical analysis on the target based on the data source characteristics to obtain a mechanical analysis result includes:

[0034] Determining a pressure concentration area and a pressure abnormality point based on the plantar pressure distribution;

[0035] Obtaining a trajectory of the center of gravity and an angle change of the ankle joint based on the center of gravity trajectory function and the ankle joint angle change function;

[0036] The center of gravity trajectory and ankle joint angle are compared with the standard center of gravity trajectory range and the standard bare joint angle range. The center of gravity trajectory and angle outside the standard range are regarded as abnormal center of gravity trajectory and abnormal ankle joint angle. If the time of the abnormal center of gravity trajectory and abnormal ankle joint angle exceeds the threshold, it is considered that an abnormal movement pattern exists.

[0037] In a preferred embodiment, the foot biomechanics model is:

[0038] ;

[0039] Among them, f(D, E, U, V) is the biomechanical value of the foot,

[0040] In a preferred embodiment, 3D printing of the insole based on the mechanical analysis results and the foot biomechanical model includes:

[0041] Determining the contour shape of the insole based on the foot length, foot width, and foot volume of the foot geometric characteristics;

[0042] The pressure concentration area is the support area of ​​the insole;

[0043] Based on the abnormal pressure point being the shock absorption area of ​​the insole;

[0044] If there is an abnormal movement pattern, the thickness of the insole should be reduced by a fixed value;

[0045] If the biomechanical analysis value is less than the first threshold, EVA material is selected; if the biomechanical analysis value is greater than or equal to the first threshold and less than the second threshold, PU material is selected; if the biomechanical analysis value is greater than the second threshold, silicone material is selected.

[0046] A second aspect of the present invention provides a personalized insole production system based on three-dimensional motion capture and 3D printing, the system comprising:

[0047] A data acquisition module is used to acquire target foot data; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion capture, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0048] a preprocessing module, configured to preprocess the foot data of the target to obtain preprocessed foot data;

[0049] A data feature extraction module, configured to extract features from the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0050] a data analysis module configured to construct a comprehensive feature vector of each foot feature based on the data source features of each foot feature; perform a mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and perform a multimodal fusion of the comprehensive feature vectors using an algorithm to obtain a foot biomechanics model;

[0051] A 3D printing module is used to perform 3D printing of the insole based on the mechanical analysis results and the foot biomechanics model.

[0052] Beneficial effects of the present invention:

[0053] (1) This invention combines static foot scanning with dynamic data collection to achieve a comprehensive quantitative analysis of foot movement, providing scientific and objective data support to guide the design and production of personalized insoles;

[0054] (2) The present invention first provides a comprehensive analysis of multi-dimensional data: integrating static scanning, dynamic force plates, Vicon motion capture, sEMG and Zebris dynamic pressure data to provide a comprehensive biomechanical analysis. Then, functional design is carried out: according to the functional requirements of different shoes, targeted insole designs are provided to improve comfort and functionality. Secondly, personalized customization is carried out: according to the specific needs of patients and data analysis results, highly personalized insole solutions are provided. Finally, real-world scenario simulation is carried out: through comprehensive dynamic data collection and analysis, real usage scenarios are simulated to ensure the performance of the insole in various actual usage situations;

[0055] (3) Through precise foot scans and data analysis, unique insoles can be created for each user to meet their specific gait and biomechanical needs. This customized service not only improves comfort but also prevents and corrects some foot problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0057] Figure 1 3D motion capture and 3D printing is a flowchart of a method for producing personalized insoles according to an embodiment of the present invention;

[0058] Figure 2 It is a structural diagram of a computer system of a server for implementing the method, system, and device embodiments of the present application. DETAILED DESCRIPTION

[0059] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the relevant invention are shown in the accompanying drawings.

[0060] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0061] The present invention provides a method for producing personalized insoles by three-dimensional motion capture and 3D printing, the method comprising:

[0062] Acquire target foot data; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion capture, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0063] preprocessing the foot data of the target to obtain preprocessed foot data;

[0064] Performing feature extraction on the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0065] constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature; performing a mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and performing multimodal fusion on each comprehensive feature vector using an algorithm to obtain a foot biomechanics model;

[0066] 3D printing of the insole is performed based on the mechanical analysis results and the foot biomechanics model.

[0067] In order to more clearly illustrate the personalized insole manufacturing method based on three-dimensional motion capture and 3D printing of the present invention, the following Figure 1 Each step in the embodiment of the present invention is described in detail.

[0068] The steps of the method for making personalized insoles based on three-dimensional motion capture and 3D printing according to the first embodiment of the present invention are described in detail as follows:

[0069] Acquire target foot data; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion capture, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0070] In this embodiment, the method for obtaining the target's foot data is as follows: statically scanning the target's foot and accurately measuring the target's arch height, foot length, and foot width parameters to obtain static foot scanning data; based on the target's activity type on the dynamic force plate, which may be walking or standing, the force plate records the plantar pressure distribution, and captures the pressure changes under different gaits to obtain plantar pressure data; using the Vicon system to install reflective markers at multiple key points on the target's feet, lower limbs, and torso, and using a camera to capture the three-dimensional motion trajectory of these markers to obtain three-dimensional motion trajectory data; installing surface electromyography electrodes on the muscle groups of the target's feet and lower limbs to record muscle activity, and obtaining surface electromyography data of the foot based on the muscle activity; based on the target's walking on the Zebris pressure measurement system, a high-precision pressure sensor records the dynamic pressure distribution of the plantar pressure to obtain plantar dynamic pressure distribution data. The foot can be scanned using a time-of-flight scanner, a laser scanner, an optical projector, or an ultrasonic scanner;

[0071] preprocessing the foot data of the target to obtain preprocessed foot data;

[0072] In this embodiment, preprocessing the foot data of the target to obtain preprocessed foot data includes: filtering the foot data using filtering technology to obtain filtered foot data; and performing time synchronization processing on the filtered foot data from different devices to obtain preprocessed foot data.

[0073] Performing feature extraction on the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0074] In this embodiment, the various foot features are static foot features, dynamic pressure features, kinematic features, and myoelectric features.

[0075] Extracting features from the pre-processed foot data to obtain various foot features includes: extracting foot geometric features based on the pre-processed static foot scan data, wherein data source features of the foot geometric features include arch height, foot length, foot width, and foot volume;

[0076] In this embodiment, dynamic pressure features are extracted based on pre-processed plantar pressure data and pre-processed plantar dynamic pressure distribution data, where data source features of the dynamic pressure features include plantar pressure distribution, center of gravity trajectory function, and pressure peak value;

[0077] The center of gravity trajectory function is:

[0078] ;

[0079] Where t is time, T is the time from one foot touching the ground to the next time the same foot touches the ground again, and A is the maximum distance the center of gravity deviates from the center line in each gait cycle; Y(t) The change of the center of gravity trajectory over time; extracting kinematic features based on the preprocessed three-dimensional motion trajectory data, the data source features of the kinematic features including gait cycle, stride length, cadence, and ankle joint angle change function;

[0080] In this embodiment, the ankle joint angle change function is:

[0081] ;

[0082] in, is the change in ankle joint angle over time, is the maximum amplitude of ankle joint angle change. is the phase shift, is the basic angle of the ankle joint, t is the time, and T is the time from one foot touching the ground to the next time the same foot touches the ground again;

[0083] Myoelectric features are extracted based on the preprocessed surface electromyographic data of the foot, wherein the myoelectric features include electromyographic activity level features, electromyographic timing features, and muscle synergy degree features.

[0084] constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature; performing a mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and performing multimodal fusion on each comprehensive feature vector using an algorithm to obtain a foot biomechanics model;

[0085] In this embodiment, constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature specifically includes:

[0086] The comprehensive feature vector of the foot geometric characteristics is: D=(D1, D2, D3, D4); the comprehensive feature vector of the dynamic pressure characteristics is: E=(Y1, 1, 1, 1); the comprehensive feature vector of the kinematic characteristics is: U=(U1, U2, U3, 1); the comprehensive feature vector of the myoelectric characteristics is: V=(V1, V2, V3, 1); wherein D1, D2, D3, D4 are the arch height, foot length, foot width, and foot volume, respectively; Y1 is the pressure peak; U1, U2, U3 are the gait cycle, stride length, and cadence, respectively; V1, V2, V3 are the myoelectric activity level characteristics, myoelectric timing characteristics, and muscle synergy degree characteristics, respectively;

[0087] In this embodiment, performing mechanical analysis on the target based on the data source characteristics to obtain a mechanical analysis result includes:

[0088] Based on the plantar pressure distribution, the pressure concentration area and the pressure abnormality point are obtained; based on the center of gravity trajectory function and the ankle joint angle change function, the center of gravity trajectory and the ankle joint angle change are obtained; the center of gravity trajectory and the ankle joint angle are compared with the standard center of gravity trajectory range and the standard bare joint angle range, and the center of gravity trajectory and angle outside the standard range are regarded as abnormal center of gravity trajectory and abnormal ankle joint angle. If the time of the abnormal center of gravity trajectory and the abnormal ankle joint angle exceeds the threshold, it is considered that an abnormal movement pattern exists.

[0089] In this embodiment, the foot biomechanics model is:

[0090] ;

[0091] Among them, f(D, E, U, V) is the biomechanical value of the foot.

[0092] The insole is 3D printed based on the mechanical analysis results and the foot mechanical model.

[0093] After the insole is printed, it can be tried on and adjusted: the patient tries on the customized insole, dynamic data is collected, the actual effect of the insole is evaluated, and adjustments are made based on the feedback. A final evaluation is then conducted: the adjusted insole is tried on again and data is collected to confirm the final effect and ensure it meets individual needs.

[0094] In this embodiment, 3D printing of the insole based on the mechanical analysis results and the foot biomechanics model includes:

[0095] The contour shape of the insole is determined based on the foot length, foot width and foot volume of the foot geometric characteristics; the pressure concentration area is the support area of ​​the insole; the pressure abnormal point is the shock absorption area of ​​the insole; if there is an abnormal movement pattern, the thickness of the insole is reduced by a fixed value; if the biomechanical analysis value is less than the first threshold, EVA material is selected; if the biomechanical analysis value is greater than or equal to the first threshold and less than the second threshold, PU material is selected; if the biomechanical analysis value is greater than the second threshold, silicone material is selected.

[0096] This invention determines insole design parameters based on biomechanical analysis, such as support area, shock absorption area, and optimized pressure distribution. Functional design: Targeted functional designs, such as shock absorption, anti-slip, and support, are implemented based on the functional requirements of different shoes (e.g., sports shoes, casual shoes, work shoes, etc.). Material selection: Appropriate 3D printing materials are selected based on design requirements to ensure the comfort and functionality of the insole.

[0097] The method of this invention can also be used to create insoles for sports shoes, casual shoes, and work shoes based on foot biomechanical values. For athletes, this system collects and analyzes data to design insoles with specific support, shock absorption, and anti-slip properties. After a patient tries on the shoes, further data collection and analysis is performed to fine-tune the insoles, ultimately resulting in the most optimal personalized sports shoe insoles, improving athletic performance and reducing sports injuries. For everyday wear, this system collects and analyzes data to design insoles with comfort and breathability. After a patient tries on the shoes, further data collection and analysis is performed to fine-tune the insoles, ultimately resulting in the most optimal personalized casual shoe insoles, improving daily comfort. For workers who stand or walk for long periods of time, this system collects and analyzes data to design insoles with high durability and pressure relief. After a patient tries on the shoes, further data collection and analysis is performed to fine-tune the insoles, ultimately resulting in the most optimal personalized work shoe insoles, reducing foot fatigue and pain.

[0098] Although the various steps in the above embodiment are described in the above-mentioned order, those skilled in the art will understand that in order to achieve the effect of this embodiment, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple changes are within the scope of protection of the present invention.

[0099] A second embodiment of the present invention provides a personalized insole production system based on three-dimensional motion capture and 3D printing, the system comprising:

[0100] A data acquisition module is used to acquire target foot data; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion capture, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris;

[0101] a preprocessing module, configured to preprocess the foot data of the target to obtain preprocessed foot data;

[0102] A data feature extraction module, configured to extract features from the pre-processed foot data to obtain various foot features; the various foot features include data source features;

[0103] a data analysis module configured to construct a comprehensive feature vector of each foot feature based on the data source features of each foot feature; perform a mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and perform a multimodal fusion of the comprehensive feature vectors using an algorithm to obtain a foot biomechanics model;

[0104] A 3D printing module is used to perform 3D printing of the insole based on the mechanical analysis results and the foot biomechanics model.

[0105] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0106] It should be noted that the personalized insole production system based on three-dimensional motion capture and 3D printing provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps and are not regarded as improper limitations of the present invention.

[0107] An electronic device according to a third embodiment of the present invention comprises: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to implement the above-mentioned method for producing personalized insoles based on three-dimensional motion capture and 3D printing.

[0108] A fourth embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned personalized insole manufacturing method based on three-dimensional motion capture and 3D printing.

[0109] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes and related instructions of the electronic device and storage medium described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0110] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. In order to clearly illustrate the interchangeability of electronic hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0111] Reference below Figure 2 , which shows a structural diagram of a computer system of a server for implementing the method, system, and device embodiments of the present application. Figure 2 The server shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0112] like Figure 2 As shown, the computer system includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603. Various programs and data required for system operation are also stored in the RAM 603. The CPU 601, ROM 602 and RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0113] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. Removable media 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like, are installed in the drive 610 as needed so that computer programs read therefrom can be installed into the storage section 608 as needed.

[0114] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the above-mentioned functions defined in the method of the present application are executed. It should be noted that the computer-readable medium mentioned above in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code embodied on a computer-readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

[0115] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0116] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0117] The terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a particular order or sequence.

[0118] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0119] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A method for producing personalized insoles based on three-dimensional motion capture and 3D printing, characterized in that: The method comprises: Acquire target foot data; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion capture, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris; preprocessing the foot data of the target to obtain preprocessed foot data; Performing feature extraction on the pre-processed foot data to obtain various foot features; the various foot features include data source features; The foot features obtained by extracting features from the pre-processed foot data include: Extracting foot geometric features based on pre-processed static foot scan data, wherein data source features of the foot geometric features include arch height, foot length, foot width, and foot volume; Extracting dynamic pressure features based on pre-processed plantar pressure data and pre-processed plantar dynamic pressure distribution data, wherein data source features of the dynamic pressure features include plantar pressure distribution, center of gravity trajectory function, and pressure peak value; The center of gravity trajectory function is: ； Where t is time, T is the time from one foot touching the ground to the next time the same foot touches the ground again, and A is the maximum distance the center of gravity deviates from the center line in each gait cycle; Y(t) is the change of center of gravity trajectory over time; Extracting kinematic features based on the preprocessed three-dimensional motion trajectory data, wherein the data source features of the kinematic features include gait cycle, stride length, cadence, and ankle joint angle change function; The ankle joint angle change function is: ； in, is the change in ankle joint angle over time, is the maximum amplitude of ankle joint angle change. is the phase shift, is the base angle of the ankle joint; Extracting electromyographic features based on pre-processed surface electromyographic data of the foot, wherein the electromyographic features include electromyographic activity level features, electromyographic timing features, and muscle synergy degree features; constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature; performing a mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and performing multimodal fusion on each comprehensive feature vector to obtain a foot biomechanics model; Constructing a comprehensive feature vector of each foot feature based on the data source features of each foot feature specifically includes: The comprehensive feature vector of the foot geometric features is: D=(D1, D2, D3, D4); The comprehensive characteristic vector of the dynamic pressure characteristic is: E=(Y1, 1, 1, 1); The comprehensive feature vector of the kinematic feature is: U=(U1, U2, U3, 1); The comprehensive feature vector of the electromyographic feature is: V=(V1, V2, V3, 1); Among them, D1, D2, D3, and D4 are respectively the arch height, foot length, foot width, and foot volume; Y1 is the pressure peak; U1, U2, and U3 are respectively the gait cycle, stride length, and step frequency; V1, V2, and V3 are respectively the myoelectric activity level characteristics, myoelectric timing characteristics, and muscle synergy degree characteristics; The foot biomechanical model is: ； Among them, f(D, E, U, V) is the biomechanical analysis value; 3D printing of the insole is performed based on the mechanical analysis results and the foot biomechanics model.

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

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

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

5. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 1, characterized in that: Performing mechanical analysis on the target based on the data source characteristics to obtain mechanical analysis results includes: Determining a pressure concentration area and a pressure abnormality point based on the plantar pressure distribution; Obtaining a trajectory of the center of gravity and an angle change of the ankle joint based on the center of gravity trajectory function and the ankle joint angle change function; The center of gravity trajectory and ankle joint angle are compared with the standard center of gravity trajectory range and the standard bare joint angle range. The center of gravity trajectory and angle outside the standard range are regarded as abnormal center of gravity trajectory and abnormal ankle joint angle. If the time of the abnormal center of gravity trajectory and abnormal ankle joint angle exceeds the threshold, it is considered that an abnormal movement pattern exists.

6. The method for making personalized insoles based on three-dimensional motion capture and 3D printing according to claim 5, characterized in that: 3D printing of the insole based on the mechanical analysis results and the foot biomechanics model includes: Determining the contour shape of the insole based on the foot length, foot width, and foot volume of the foot geometric characteristics; The pressure concentration area is the support area of ​​the insole; The abnormal pressure point is the shock absorption area of ​​the insole; If there is an abnormal movement pattern, the thickness of the insole should be reduced by a fixed value; If the biomechanical analysis value is less than the first threshold, EVA material is selected; if the biomechanical analysis value is greater than or equal to the first threshold and less than the second threshold, PU material is selected; if the biomechanical analysis value is greater than the second threshold, silicone material is selected.

7. A personalized insole production system based on three-dimensional motion capture and 3D printing, used to implement the personalized insole production method based on three-dimensional motion capture and 3D printing according to any one of claims 1 to 6, characterized in that: The system comprises: A data acquisition module is used to acquire target foot data; the foot data includes static foot scanning data, plantar pressure data under a dynamic force plate, three-dimensional motion trajectory data captured by Vicon three-dimensional motion capture, surface electromyography data of the foot, and dynamic plantar pressure distribution data measured by Zebris; a preprocessing module, configured to preprocess the foot data of the target to obtain preprocessed foot data; A data feature extraction module, configured to extract features from the pre-processed foot data to obtain various foot features; the various foot features include data source features; a data analysis module configured to construct a comprehensive feature vector of each foot feature based on the data source features of each foot feature; perform a mechanical analysis on the target based on the data source features to obtain a mechanical analysis result; and perform a multimodal fusion of the comprehensive feature vectors using an algorithm to obtain a foot biomechanical model; A 3D printing module is used to perform 3D printing of the insole based on the mechanical analysis results and the foot biomechanics model.

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