An intelligent flexible interaction system for weight foot shape pressure optimization

Abstract

This invention relates to the field of foot orthosis technology, and provides an intelligent flexible interactive system for optimizing foot shape and pressure under weight-bearing conditions. The system includes: a module mounting plate, an array execution platform composed of several independent modules, and a flexible buffer pad. Several independent modules are mounted on the module mounting plate, and the flexible buffer pad is positioned above the array execution platform. The flexible buffer pad is configured to receive pressure from the foot during foot shape and pressure detection, acquiring foot pressure and shape to identify abnormal foot structures. Each independent module is configured to generate different compression displacements under different weight loads when the user's foot stands on the flexible buffer pad, and subsequently adjust the stiffness of the independent module to adjust the foot shape and pressure distribution. This technical solution, by constructing a high-density pneumatic flexible interactive array, achieves real-time detection, dynamic adjustment, and quantitative recording of foot shape and plantar pressure.

Description

Technical Field

[0001] This invention relates to the technical field of foot orthotics, and more particularly to an intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet. Background Technology

[0002] As a key organ for weight-bearing and movement, the foot's morphology and plantar pressure distribution directly affect lower limb alignment, gait stability, and the overall health of the musculoskeletal system. For individuals with foot abnormalities such as flat feet, high arches, hallux valgus, kyphosis, and diabetic foot, intervention and treatment typically require foot morphology testing, pressure analysis, and personalized orthotic design.

[0003] On the one hand, existing technologies have attempted to construct a weight-bearing flexible acquisition platform, using an elastic probe array to simulate the flexible contact environment of the sole of the foot, and combining it with a line laser and visual scanning system to achieve three-dimensional reconstruction of the true shape of the sole and sides of the foot in a natural standing state. This approach effectively overcomes the shortcomings of traditional non-weight-bearing scanning in reflecting the true force pattern of the foot, providing a reliable data foundation for the diagnosis of foot diseases and the design of orthotics.

[0004] However, the aforementioned technical solutions are essentially still testing and evaluation devices, with their core function limited to the collection and analysis of foot morphology information. After obtaining the test results, doctors or technicians still rely on experience to design, prototype, trial-wear, and repeatedly adjust the orthosis. The entire process is lengthy, inefficient, and the relevant parameters are difficult to quantify. Furthermore, the device cannot actively change local support conditions under weight-bearing conditions, nor can it assess in real-time the improvement effects of different orthodontic treatments on foot morphology and pressure distribution. Therefore, it suffers from the technical limitation of "only testing, not treating."

[0005] On the other hand, most existing foot dynamic correction devices use rigid drive mechanisms such as motors, lead screws, and cams to achieve localized lifting. While these solutions can generate displacement output, they generally suffer from the following problems: First, the drive mechanism is large in size, limiting the density of module integration and making it difficult to form a high-density foot support array, resulting in insufficient local correction resolution; second, rigid drive mainly achieves correction through forced lifting by displacement, making it impossible to continuously adjust contact stiffness, which can easily cause localized pressure pain and a foreign body sensation, leading to poor user comfort; third, the lack of multi-dimensional sensor feedback makes it difficult to achieve closed-loop control of the correction process, limiting correction accuracy and repeatability; fourth, it is impossible to quantify and record the optimal support parameters during the correction process, making it difficult to directly convert them into a basis for manufacturing orthotic insoles, rehabilitation aids, or rehabilitation equipment.

[0006] Therefore, there is an urgent need to develop a new type of intelligent interactive device that can simultaneously perform foot morphology detection, pressure assessment, active flexible correction, and quantitative output of correction parameters under load, thereby achieving a technological leap from "detection and diagnosis" to "treatment and rehabilitation". Summary of the Invention

[0007] To address the aforementioned problems, the present invention aims to provide an intelligent flexible interactive system for optimizing foot shape and pressure under weight. By constructing a high-density pneumatic flexible interactive array, real-time detection, dynamic adjustment, and quantitative recording of foot shape and plantar pressure are achieved.

[0008] The above-mentioned objective of this invention is achieved through the following technical solutions: An intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet includes: a module mounting plate, an array execution platform composed of several independent modules, and a flexible buffer pad; Several independent modules are mounted on the module mounting plate, and the flexible buffer pad is disposed above the array execution platform; The flexible cushioning pad is configured to receive pressure from the foot during foot pressure testing, acquire foot pressure and shape, and identify abnormal foot structures. Each of the independent modules is configured to generate different compressive displacements based on the load differences at different parts of the foot when the user stands on the flexible cushioning pad with one or both feet, under different test conditions corresponding to half-load or full-load. Subsequently, the stiffness of the independent module is adjusted to adjust the foot shape and optimize the plantar pressure distribution.

[0009] Furthermore, the intelligent flexible interactive system for optimizing the shape and pressure of the weight-bearing foot also includes a frame; the frame is used to mount the intelligent flexible interactive system consisting of the module mounting plate, the array execution platform, and the flexible buffer pad.

[0010] Furthermore, the intelligent flexible interactive system for optimizing the shape and pressure of the weight-bearing foot also includes a camera module; the camera module is used to monitor the shape of the dorsum of the foot and realize three-dimensional modeling of the correction process.

[0011] Furthermore, each of the independent modules of the array execution platform includes a module sleeve, a displacement sensor, a miniature cylinder, a module cover, a guide sleeve, a pressure sensor seat, a force sensor, a force sensor cover, a shoulder bolt, and a straightening ball head; The module is fixedly installed inside the module mounting plate; The displacement sensor is installed inside the module sleeve and is used to detect the displacement of the corresponding module. The miniature cylinder is installed inside the module sleeve. A pressure sensor is installed in the air circuit of the miniature cylinder to detect the internal air pressure in real time. At the same time, the stiffness of the independent module is changed by adjusting the air pressure of the miniature cylinder. The stiffness is indirectly determined based on the air pressure value detected by the pressure sensor. The module cover is disposed above the module sleeve and is clearance-fitted with the module sleeve. The plunger rod of the micro cylinder passes through the module cover and is fixed by a lock nut. The guide sleeve is installed through the module cover and extends upward; The pressure sensor mount and the force sensor are installed in the countersunk area of ​​the module cover, and the force sensor is used to detect the contact force between the sole of the foot and the orthotic ball head; The force sensor cover is disposed above the module cover, and a limiting groove is provided at the bottom of the force sensor cover, the limiting groove only contacting the force sensor; The shoulder bolt engages with the guide sleeve to limit the downward stroke of the force sensor cover; The corrective ball head is mounted on the top of the force sensor cover; Each of the independent modules can work independently, or it can coordinate and link several adjacent groups through the control system to drive and control them, thereby forming a dynamic support array that adapts to different foot contours and stress states.

[0012] Furthermore, each of the independent modules arranged in the array on the array execution platform is configured to selectively enable or disable a portion of the modules to form an effective correction area that matches the foot size; wherein the effective correction area corresponds to the foot body, and when the foot size is small, the correction range is reduced by disabling the independent modules in the latter area, thereby improving the adaptability of the device.

[0013] Furthermore, the module mounting plate serves as the basic support structure for a single independent module, is used to mount the module sleeve of the independent module, and includes a mounting cavity and set screw holes; The mounting cavity is located inside the module mounting plate, with reserved sensor wiring channels to achieve integrated layout of electrical and pneumatic systems; The set screw hole is located at the bottom of the module mounting plate and is used to fix the module sleeve of the independent module.

[0014] Furthermore, the module is mounted on the mounting cavity of the module mounting plate, and a plurality of functional holes are provided inside it; The module sleeve has five holes inside. The first hole is used to install the displacement sensor; the second hole is used to install the miniature cylinder, which is longitudinally limited by a nut and connected to a pneumatic connector at the bottom; the third hole has a countersunk structure to fix the displacement sensor; the fourth hole is used to install a cable connector for the sensor wire to pass through; and the fifth hole shares the same set screw hole as the set screw hole on the module mounting plate.

[0015] Furthermore, the module cover is disposed above the module sleeve and is in clearance fit with the module sleeve; The module cover has a stepped positioning surface inside, which is used to contact the measuring rod of the displacement sensor to transmit motion displacement signals; The top of the module cover is provided with two mounting holes, one on the left and one on the right. The guide hole on the right is used for the cylinder plunger rod to pass through, and the cylinder is fixed to the module cover by a locking nut. The pressure sensor seat and the force sensor are installed inside the countersunk hole area to detect the contact force between the sole of the foot and the ball head; The force sensor hole is designed with an angled wire hole to avoid overlapping with the top rod of the displacement sensor; The countersunk hole on the left is used to install the guide sleeve structure. The guide sleeve passes through the module cover and extends upward to restrict the degree of freedom of movement of the correction ball head, so that it can only move linearly in the vertical direction, thereby improving the measurement accuracy and movement stability.

[0016] Furthermore, the force sensor cover is disposed above the module cover, and a limiting groove is provided at its bottom. The limiting groove only contacts the force sensor, so that the foot load can be directly transmitted to the force sensor, while avoiding other structural components from being bypassed and affecting the measurement accuracy. The force sensor cover has a guide sleeve through hole on the top left side, forming a through guide structure with the lower guide sleeve. To ensure that the downward stroke of the force sensor cover is synchronized, the shoulder bolt is limited by the guide sleeve. A threaded mounting groove is provided on the top right side for installing the straightening ball head. The shoulder bolt mounting groove is used to install the shoulder bolt and the guide sleeve with clearance fit.

[0017] Furthermore, the corrective ball head is located at the top of each of the individual modules; The ball head of the corrective ball is made of arc or hemispherical structure to improve human contact comfort and reduce local stress concentration; The top of the corrective ball is positioned below the flexible buffer pad to reduce local contact stress concentration, enhance the flexibility of the foot contact surface, and improve the human body testing and correction experience.

[0018] Furthermore, the intelligent flexible interactive system for optimizing the shape and pressure of the weight-bearing foot also includes a computer, a data acquisition card, a signal amplifier, a proportional valve, an air pump, a multi-port air pipe connector, a power supply, and input / output modules; The power supply supplies power to the system; the displacement sensor records the compression amount of the corresponding area in real time, the force sensor records the local contact pressure in real time, and the air pressure sensor records the air pressure state inside the corresponding miniature cylinder in real time; the contact pressure signal collected by the force sensor is amplified by the signal amplifier and then transmitted to the computer, the displacement signal collected by the displacement sensor is transmitted to the computer via the acquisition card, and the air pressure signal collected by the air pressure sensor is transmitted to the computer via the input / output module; The computer, acting as a data processing system, reconstructs the plantar geometric model based on the displacement data of each execution unit and combines it with pressure data to form a plantar pressure distribution map, thereby completing the assessment of foot abnormalities. The computer generates corrective control commands based on the assessment results, and the corrective control commands are output in reverse to the proportional valve, which adjusts its opening degree according to the corrective control commands. The compressed air output by the air pump is regulated by the proportional valve and then distributed to each of the micro cylinders through the multi-port air connector, thereby adjusting the support stiffness of each micro cylinder and achieving optimized correction of foot shape and pressure.

[0019] Compared with the prior art, the present invention has at least one of the following beneficial effects: (1) Achieving integrated detection and correction: This invention simultaneously completes foot morphology detection, pressure assessment and active flexible correction under load, breaking through the technical limitations of existing equipment that "only detects, does not correct" or "separates correction and detection", and realizing the technical leap from "diagnosis" to "treatment and rehabilitation".

[0020] (2) Flexible correction and high comfort: The present invention adopts a support stiffness control method based on air pressure regulation. It guides the optimization of foot shape by changing the stiffness of the pneumatic actuator, rather than relying on the rigid lifting displacement driven by the motor. This significantly reduces local pressure pain and foreign body sensation, and improves the user's comfort and adaptability during use.

[0021] (3) High-density array with high correction resolution: The present invention adopts a flexible interactive array composed of multiple independent pneumatic actuators. Each unit can be independently controlled to form a high-density programmable foot support surface, which can realize fine correction of local areas of the foot and overcome the defects of traditional rigid drive mechanisms that are large in size and low in integration.

[0022] (4) Multi-sensor closed-loop feedback for precise control: The present invention integrates displacement sensor, force sensor and air pressure sensor in each execution unit to form a multi-dimensional sensing and detection system. The data processing system reconstructs the foot geometry model and pressure distribution map based on the real-time collected displacement, pressure and air pressure data, and generates correction control commands to form a closed-loop control mechanism of "collection-evaluation-correction-feedback", which significantly improves the accuracy and repeatability of correction.

[0023] (5) Dual-mode dynamic adjustment with strong adaptability: The present invention has dual-mode dynamic adjustment capability combining decompression mode and orthopedic mode. In decompression mode, the support stiffness of the high pressure area of ​​the foot can be reduced and the peak pressure can be dispersed; in orthopedic mode, the local support stiffness can be adjusted in a targeted manner to guide the foot towards the target shape and meet the needs of different types of foot abnormalities and correction stages.

[0024] (6) Output quantitative parameters to support the manufacturing of personalized rehabilitation products: This invention records the optimal air pressure, displacement and pressure parameters of each execution unit in real time during the correction process, forming a digital correction database. The above parameter matrix can be directly used for the digital design and manufacturing of orthopedic insoles, rehabilitation aids and rehabilitation equipment, realizing the transformation from "experience-dependent" to "data-driven", shortening the product development cycle and improving the level of personalized adaptation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a scenario for the weight-bearing foot compression optimization device of the present invention; Figure 2 This is a schematic diagram of the intelligent flexible interactive system of the present invention; Figure 3 This is a schematic diagram of the module mounting plate of the present invention; Figure 4 This is an exploded view of the intelligent flexible interaction module of the present invention; Figure 5 This is a schematic diagram of the installation of the intelligent flexible interaction module of the present invention; Figure 6 This is a schematic diagram of the module sleeve of the present invention; Figure 7 This is a schematic diagram of the module cover of the present invention; Figure 8 This is a schematic diagram of the force sensor cover of the present invention; Figure 9 This is a wiring diagram of the module of the present invention; Figure 10 This is a schematic diagram of the correction method of the present invention.

[0026] Figure Labels 1: Frame; 2: Camera module; 3: Foot; 4: Module mounting plate; 5: Flexible buffer pad; 6: Cable connector; 7: Pneumatic connector; 8: Module sleeve; 9: Displacement sensor; 10: Miniature cylinder; 11: Module cover; 12: Guide sleeve; 13: Pressure sensor seat; 14: Force sensor; 15: Force sensor cover; 16: Shoulder bolt; 17: Straightening ball head; 41: Mounting cavity; 42: Set screw hole; 81: Fifth hole; 82: Fourth hole; 83: Third hole; 84: Second hole; 85: First hole; 111: Stepped positioning surface; 112: Right guide hole; 113: Countersunk hole area; 114: Force sensor hole; 115: Left countersunk hole; 151: Limiting groove; 152: Guide sleeve through hole; 153: Threaded mounting groove; 154: Shoulder bolt mounting groove. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0029] The present invention aims to provide an intelligent flexible interactive system for optimizing the shape and pressure of the weight-bearing foot. By constructing a high-density pneumatic flexible interactive array, it can realize the real-time detection, dynamic adjustment and quantitative recording of foot shape and plantar pressure.

[0030] The present invention mainly solves the following technical problems: (1) Existing weight-bearing foot detection devices can only acquire foot morphology data and cannot actively intervene in the foot stress state; (2) Most existing foot correction devices adopt a rigid motor drive method, which is complex in structure, low in integration and poor in comfort, and difficult to achieve high-resolution flexible correction; (3) Existing correction processes lack synchronous closed-loop feedback of displacement, pressure and driving force parameters, making it difficult to achieve precise control; (4) Existing orthotic designs rely heavily on experience and offline iteration, and cannot obtain the best correction parameters under actual human weight-bearing conditions; (5) Existing technologies cannot simultaneously obtain foot geometry optimization parameters and plantar pressure optimization parameters, making it difficult to achieve rapid development of digital and personalized rehabilitation products.

[0031] To address the aforementioned issues, this invention proposes an intelligent flexible interactive system based on pneumatic actuator arrays and multi-sensor fusion feedback. This system enables real-time perception of foot shape and pressure distribution under load, and optimizes the local stress state by adjusting the support stiffness of each pneumatic unit, thereby obtaining optimal orthopedic parameters and providing a direct basis for the manufacturing of personalized orthopedic products.

[0032] The core innovation of this invention lies not in foot scanning itself, but in the active adjustment capability of the flexible support unit under load conditions and its closed-loop control mechanism.

[0033] This invention focuses on protecting the following technical features: A flexible interactive array structure consisting of multiple independent pneumatic actuators, each unit having independent adjustment capability, can form a programmable foot support surface; A multi-sensor fusion structure integrating displacement sensor, force sensor and air pressure sensor to achieve synchronous detection of foot shape, contact pressure and driving state; A flexible correction mechanism based on air pressure regulation achieves correction by changing the support stiffness of the pneumatic unit rather than simply lifting displacement; A two-step working method of "detection-evaluation-correction" under load; A dual-mode dynamic adjustment method combining decompression mode and orthopedic mode; The most crucial protection point is to achieve flexible correction by adjusting the support stiffness of the pneumatic actuator, rather than by forcibly lifting it with displacement pressure.

[0034] This technical approach is significantly different from existing motor-driven foot correction devices, and it is also the most fundamental difference between this invention and previous scanning devices.

[0035] The technical solution of the present invention will be described below through specific embodiments: First Embodiment like Figure 1-2As shown, this embodiment provides an intelligent flexible interactive system for optimizing foot shape and pressure under load, including: a module mounting plate 4, an array execution platform composed of several independent modules, and a flexible buffer pad 5; several independent modules are mounted on the module mounting plate 4, and the flexible buffer pad 5 is disposed above the array execution platform; the flexible buffer pad 5 is configured to receive the pressure of the foot 3 during foot shape and pressure testing to obtain the pressure and shape of the foot 3 and identify abnormal foot bodies; each independent module is configured to generate different compression displacements according to the load difference of different parts of the foot when the user's single or double foot 3 stands on the flexible buffer pad 5, under different test conditions corresponding to half-load or full-load, and then adjust the stiffness of the independent module to correct the foot 3 defects.

[0036] This embodiment, based on the "load-bearing flexible working condition" technology concept, uses an array of pneumatic actuators and a multi-sensor closed-loop feedback system to achieve morphological detection, pressure detection, active correction, and quantitative output of corrective parameters of the human foot under natural load. This device can not only acquire the geometric shape of the foot under actual force, but also change the local support state in real time, realizing the redistribution of plantar pressure and correction of foot posture, thus forming an integrated system of "detection-analysis-correction-parameter output".

[0037] The invention also includes a frame 1; the frame 1 is used to mount the intelligent flexible interactive system consisting of the module mounting plate 4, the array execution platform, and the flexible buffer pad 5. A camera module 2 is also included; the camera module 2 is used to monitor the morphology of the foot dorsum and realize three-dimensional modeling of the correction process.

[0038] In this embodiment, each independent module of the array execution platform includes a module sleeve 8, a displacement sensor 9, a miniature cylinder 10, a module cover 11, a guide sleeve 12, a pressure sensor seat 13, a force sensor 14, a force sensor cover 15, a shoulder bolt 16, and a straightening ball head 17. The module sleeve 8 is fixedly installed inside the module mounting plate 4. The displacement sensor 9 is installed inside the module sleeve 8 and is used to detect the displacement of the corresponding module. The miniature cylinder 10 is installed inside the module sleeve 8, and a pressure sensor is provided in the air circuit of the miniature cylinder 10 to detect the internal air pressure of the cylinder in real time. At the same time, the stiffness of the independent module is changed by adjusting the air pressure of the miniature cylinder 10, and the stiffness is indirectly determined based on the air pressure value detected by the pressure sensor. The module cover 11 is disposed above the module sleeve 8 and is clearance-fitted with the module sleeve 8. The miniature cylinder 10... The plunger rod passes through the module cover 11 and is fixed by a lock nut; the guide sleeve 12 is installed through the module cover 11 and extends upward; the pressure sensor seat 13 and the force sensor 14 are installed in the countersunk area of ​​the module cover 11, and the force sensor 14 is used to detect the contact force between the sole of the foot and the corrective ball head 17; the force sensor cover 15 is disposed above the module cover 11, and the bottom of the force sensor cover 15 is provided with a limiting groove, which only contacts the force sensor 14; the shoulder bolt 16 cooperates with the guide sleeve 12 to limit the downward stroke of the force sensor cover 15; the corrective ball head 17 is installed on the top of the force sensor cover 15; each of the independent modules can work independently, and can also be coordinated and linked by the control system to form a dynamic support array that adapts to different sole contours and force states.

[0039] In this embodiment, each of the independent modules arranged in an array on the array execution platform is configured to selectively enable or disable a portion of the modules to form an effective correction area that matches the foot size; wherein, the effective correction area corresponds to the foot body, and when the foot size is small, the correction range is reduced by disabling the independent modules in the latter area, thereby improving the adaptability of the device.

[0040] In this embodiment, as Figure 2-3 As shown, the module mounting plate 4 serves as the basic support structure for a single independent module, used to install the module sleeve 8 of the independent module, and includes a mounting cavity 41 and a set screw hole 42; the mounting cavity 41 is located inside the module mounting plate 4, with reserved sensor wiring channels to achieve integrated arrangement of electrical and pneumatic systems; the set screw hole 42 is located at the bottom of the module mounting plate 4, used to fix the module sleeve 8 of the independent module.

[0041] In this embodiment, as Figure 4-6As shown, the module sleeve 8 is installed on the mounting cavity 41 of the module mounting plate 4, and has multiple functional holes inside. The module sleeve 8 has five holes inside, of which the first hole 85 is used to install the displacement sensor 9; the second hole 84 is used to install the miniature cylinder 10, which is longitudinally limited by a nut and connected to the pneumatic connector 7 at the bottom; the third hole 83 has a countersunk structure to fix the displacement sensor 9; the fourth hole 82 is used to install the cable connector 6 for the sensor wire to pass through; and the fifth hole 81 shares the same set screw hole 42 as the set screw hole 42 of the module mounting plate 4.

[0042] In this embodiment, as Figure 7 As shown, the module cover 11 is positioned above the module sleeve 8 and is clearance-fitted with the module sleeve 8; the module cover 11 has a stepped positioning surface 111 inside, which is used to contact the measuring rod of the displacement sensor 9 to transmit motion displacement signals; the top of the module cover 11 has two mounting holes, one on the left and one on the right, wherein the guide hole 112 on the right is used for the cylinder plunger rod to pass through, and the cylinder is fixed to the module cover 11 by a locking nut; the pressure sensor seat 13 and the force sensor 14 are installed inside the countersunk hole area 113, which are used to detect the contact force between the sole of the foot and the ball head; the force sensor hole 114 has an inclined wire hole to avoid overlapping with the top rod of the displacement sensor 9; the countersunk hole 115 on the left is used to install the guide sleeve 12 structure, the guide sleeve 12 passes through the module cover 11 and extends upward, which is used to restrict the degree of freedom of the correction ball head 17, so that it only moves linearly in the vertical direction, thereby improving the measurement accuracy and motion stability.

[0043] In this embodiment, as Figure 8 As shown, the force sensor cover 15 is disposed above the module cover 11, and a limiting groove 151 is provided at its bottom. The limiting groove 151 only contacts the force sensor 14, so that the foot load can be directly transmitted to the force sensor 14, while avoiding other structural components from being bypassed and affecting the measurement accuracy. A guide sleeve through hole 152 is provided on the top left side of the force sensor cover 15, forming a through guide structure with the lower guide sleeve 12. In order to ensure that the downward stroke of the force sensor cover 15 is synchronized, the shoulder bolt 16 is limited together with the guide sleeve 12. A threaded mounting groove 153 is provided on the top right side for installing the straightening ball head 17. The shoulder bolt mounting groove 154 is used to install the shoulder bolt 16 and the guide sleeve 12 with clearance fit.

[0044] In this embodiment, the corrective ball head 17 is located at the top of each of the independent modules; the ball head of the corrective ball head 17 adopts an arc or hemispherical structure to improve human contact comfort and reduce local stress concentration, and the ball head material is stainless steel; the top of the corrective ball head 17 is located below the flexible buffer pad 5 to reduce local contact stress concentration, enhance the flexibility of the foot contact surface, and improve the human testing and correction experience.

[0045] like Figure 9 The embodiment shown also includes a computer, a data acquisition card, a signal amplifier, a proportional valve, an air pump, a multi-port air connector, a power supply, and an input / output module; The power supply supplies power to the system; the displacement sensor 9 records the compression amount of the corresponding area in real time, the force sensor 14 records the local contact pressure in real time, and the air pressure sensor records the air pressure state inside the corresponding miniature cylinder 10 in real time; the contact pressure signal collected by the force sensor 14 is amplified by the signal amplifier and then transmitted to the computer, the displacement signal collected by the displacement sensor 9 is transmitted to the computer via the acquisition card, and the air pressure signal collected by the air pressure sensor is transmitted to the computer via the input / output module; The computer, acting as a data processing system, reconstructs the plantar geometric model based on the displacement data of each execution unit and combines it with pressure data to form a plantar pressure distribution map, thereby completing the assessment of foot abnormalities. The computer generates corrective control commands based on the assessment results, and the corrective control commands are output in reverse to the proportional valve, which adjusts its opening degree according to the corrective control commands. The compressed air output by the air pump is regulated by the proportional valve and then distributed to each of the miniature cylinders 10 through the multi-port air connector, thereby adjusting the support stiffness of each miniature cylinder 10 and realizing foot shape and pressure optimization correction.

[0046] Second Embodiment like Figure 10 This embodiment describes the specific working process of the present invention. When a user stands on the surface of the device, the sole of their foot contacts the flexible cushioning pad 5. Each independent module, acting as an execution unit, generates different compression displacements under load. Subsequently, the cylinder stiffness is adjusted to further correct foot defects.

[0047] The sensing and detection system includes a displacement sensor that records the compression in the corresponding area in real time, a force sensor that records the local contact pressure in real time, and a pressure sensor that records the internal pressure of the corresponding cylinder in real time. The data processing system reconstructs the plantar geometry model based on the displacement data from each actuator and combines it with the pressure data to form a plantar pressure distribution map, thereby completing the assessment of foot abnormalities.

[0048] This system is divided into two phases: During the testing phase, under preset initial air pressure conditions, each micro-cylinder forms a uniform initial support stiffness. The system collects displacement and pressure data from each unit, and reconstructs a three-dimensional point cloud model of the foot based on the array spatial coordinates. It further obtains foot parameters such as arch height, foot length, foot width, heel inclination angle, and pressure distribution center to achieve foot anomaly assessment.

[0049] During the correction phase, in decompression mode, the control system automatically adjusts the air pressure of local pneumatic units based on the plantar pressure distribution, reducing the support stiffness of high-pressure areas and increasing the load-bearing capacity of surrounding areas to achieve pressure redistribution and reduce local peak pressure. In orthopedic mode, the control system adjusts the support stiffness of pneumatic units in the target area based on foot morphology assessment results, allowing the plantar tissues to gradually adjust towards the target shape under load. For example, it improves the support capacity of the medial arch area to improve flat feet; or it adjusts the support stiffness of the heel area to improve abnormal force line problems such as heel eversion.

[0050] It is worth emphasizing that the correction process of this invention does not rely on large-displacement mechanical lifting, but rather on continuously adjusting the local support stiffness to change the force balance of the foot tissues under load, thereby guiding the foot to gradually reach the target shape. This method has advantages such as high flexibility, good comfort, high adjustment precision, and strong human adaptability.

[0051] During the correction process, the system continuously records the displacement value, contact pressure value and corresponding air pressure parameters of each array unit, and forms a digital correction database.

[0052] When the best corrective effect is achieved, the corresponding air pressure parameter matrix, displacement parameter matrix, and pressure parameter matrix constitute an individualized corrective parameter model, which can be directly used for orthopedic insole design, rehabilitation equipment parameter setting, and digital rehabilitation product manufacturing.

[0053] Therefore, this invention achieves a technological leap from "foot detection" to "foot detection + active correction + parameter output".

[0054] Third Embodiment In alternative embodiments, the displacement sensor of the present invention can be selected from Hall displacement sensors, photoelectric displacement sensors, inductive displacement sensors, or capacitive displacement sensors, depending on the measurement accuracy and cost requirements; the force sensor can be a piezoresistive, piezoelectric, capacitive, or flexible thin-film pressure sensor; the flexible buffer pad can be made of silicone, thermoplastic elastomer, polyurethane foam, or other flexible biocompatible materials; and the layout of the array execution platform can be set as a rectangular array, a honeycomb array, a concentric ring array, or designed as a non-uniform array according to the anatomical characteristics of the foot. The specific selection of the above components can be flexibly replaced according to the actual application scenario, all of which fall within the protection scope of the present invention.

[0055] A computer-readable storage medium stores computer code that, when executed, performs the methods described above. Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0056] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0057] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A smart flexible interactive system for optimizing the shape and pressure of weight-bearing feet, characterized in that, Includes: a module mounting plate, an array execution platform consisting of several independent modules, and a flexible buffer pad; Several independent modules are mounted on the module mounting plate, and the flexible buffer pad is disposed above the array execution platform; The flexible cushioning pad is configured to receive pressure from the foot during foot pressure testing, acquire foot pressure and shape, and identify abnormal foot structures. Each of the independent modules is configured to generate different compressive displacements based on the load differences at different parts of the foot when the user stands on the flexible cushioning pad with one or both feet, under different test conditions corresponding to half-load or full-load. Subsequently, the stiffness of the independent module is adjusted to adjust the foot shape and optimize the plantar pressure distribution.

2. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 1, characterized in that, It also includes a rack; the rack is used to mount the intelligent flexible interactive system consisting of the module mounting plate, the array execution platform and the flexible buffer pad.

3. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 1, characterized in that, It also includes a camera module; the camera module is used to monitor the morphology of the dorsum of the foot and realize three-dimensional modeling of the correction process.

4. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 1, characterized in that, Each of the independent modules of the array execution platform includes a module sleeve, a displacement sensor, a miniature cylinder, a module cover, a guide sleeve, a pressure sensor seat, a force sensor, a force sensor cover, a shoulder bolt, and a straightening ball head; The module is fixedly installed inside the module mounting plate; The displacement sensor is installed inside the module sleeve and is used to detect the displacement of the corresponding module. The miniature cylinder is installed inside the module sleeve. A pressure sensor is installed in the air circuit of the miniature cylinder to detect the internal air pressure in real time. At the same time, the stiffness of the independent module is changed by adjusting the air pressure of the miniature cylinder. The stiffness is indirectly determined based on the air pressure value detected by the pressure sensor. The module cover is disposed above the module sleeve and is clearance-fitted with the module sleeve. The plunger rod of the micro cylinder passes through the module cover and is fixed by a lock nut. The guide sleeve is installed through the module cover and extends upward; The pressure sensor mount and the force sensor are installed in the countersunk area of ​​the module cover, and the force sensor is used to detect the contact force between the sole of the foot and the orthotic ball head; The force sensor cover is disposed above the module cover, and a limiting groove is provided at the bottom of the force sensor cover, the limiting groove only contacting the force sensor; The shoulder bolt engages with the guide sleeve to limit the downward stroke of the force sensor cover; The corrective ball head is mounted on the top of the force sensor cover; Each of the independent modules can work independently, or it can coordinate and link several adjacent groups through the control system to drive and control them, thereby forming a dynamic support array that adapts to different foot contours and stress states.

5. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 4, characterized in that, Each of the independent modules arranged in an array on the array execution platform is configured to selectively enable or disable a portion of the modules to form an effective correction area that matches the foot size; wherein the effective correction area corresponds to the foot body, and when the foot size is small, the correction range is reduced by disabling the independent modules in the latter area, thereby improving the adaptability of the device.

6. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 4, characterized in that, The module mounting plate serves as the basic support structure for a single independent module, and is used to install the module sleeve of the independent module. It includes a mounting cavity and set screw holes. The mounting cavity is located inside the module mounting plate, with reserved sensor wiring channels to achieve integrated layout of electrical and pneumatic systems; The set screw hole is located at the bottom of the module mounting plate and is used to fix the module sleeve of the independent module.

7. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 6, characterized in that, The module is installed on the mounting cavity of the module mounting plate, and multiple functional holes are provided inside it; The module sleeve has five holes inside. The first hole is used to install the displacement sensor; the second hole is used to install the miniature cylinder, which is longitudinally limited by a nut and connected to a pneumatic connector at the bottom; the third hole has a countersunk structure to fix the displacement sensor; the fourth hole is used to install a cable connector for the sensor wire to pass through; and the fifth hole shares the same set screw hole as the set screw hole on the module mounting plate.

8. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 7, characterized in that, The module cover is disposed above the module sleeve and is fitted with the module sleeve with a clearance. The module cover has a stepped positioning surface inside, which is used to contact the measuring rod of the displacement sensor to transmit motion displacement signals; The top of the module cover is provided with two mounting holes, one on the left and one on the right. The guide hole on the right is used for the cylinder plunger rod to pass through, and the cylinder is fixed to the module cover by a locking nut. The pressure sensor seat and the force sensor are installed inside the countersunk hole area to detect the contact force between the sole of the foot and the ball head; The force sensor hole is designed with an angled wire hole to avoid overlapping with the top rod of the displacement sensor; The countersunk hole on the left is used to install the guide sleeve structure. The guide sleeve passes through the module cover and extends upward to restrict the degree of freedom of movement of the correction ball head, so that it can only move linearly in the vertical direction, thereby improving the measurement accuracy and movement stability.

9. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 8, characterized in that, The force sensor cover is disposed above the module cover, and a limiting groove is provided at its bottom. The limiting groove only contacts the force sensor, so that the foot load can be directly transmitted to the force sensor, while avoiding other structural components from being bypassed and affecting the measurement accuracy. The force sensor cover has a guide sleeve through hole on the top left side, forming a through guide structure with the lower guide sleeve. To ensure that the downward stroke of the force sensor cover is synchronized, the shoulder bolt is limited by the guide sleeve. A threaded mounting groove is provided on the top right side for installing the straightening ball head. The shoulder bolt mounting groove is used to install the shoulder bolt and the guide sleeve with clearance fit.

10. The intelligent flexible interactive system for optimizing the shape and pressure of weight-bearing feet according to claim 9, characterized in that, The corrective ball head is located at the top of each of the independent modules; The ball head of the corrective ball is made of arc or hemispherical structure to improve human contact comfort and reduce local stress concentration; The top of the corrective ball is positioned below the flexible buffer pad to reduce local contact stress concentration, enhance the flexibility of the foot contact surface, and improve the human body testing and correction experience.

11. The intelligent flexible interactive system for optimizing the shape and pressure of a weight-bearing foot according to claim 10, characterized in that, It also includes a computer, data acquisition card, signal amplifier, proportional valve, air pump, multi-port air connector, power supply and input / output modules; The power supply supplies power to the system; the displacement sensor records the compression amount of the corresponding area in real time, the force sensor records the local contact pressure in real time, and the air pressure sensor records the air pressure state inside the corresponding miniature cylinder in real time; the contact pressure signal collected by the force sensor is amplified by the signal amplifier and then transmitted to the computer, the displacement signal collected by the displacement sensor is transmitted to the computer via the acquisition card, and the air pressure signal collected by the air pressure sensor is transmitted to the computer via the input / output module; The computer, acting as a data processing system, reconstructs the plantar geometric model based on the displacement data of each execution unit and combines it with pressure data to form a plantar pressure distribution map, thereby completing the assessment of foot abnormalities. The computer generates corrective control commands based on the assessment results, and the corrective control commands are output in reverse to the proportional valve, which adjusts its opening degree according to the corrective control commands. The compressed air output by the air pump is regulated by the proportional valve and then distributed to each of the micro cylinders through the multi-port air connector, thereby adjusting the support stiffness of each micro cylinder and achieving optimized correction of foot shape and pressure.

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