Force measuring table integrating gait plantar pressure and three-dimensional force

Abstract

The utility model discloses a force measuring table integrating gait plantar pressure and three-dimensional force. The force measuring table comprises a flexible pressure sensor, a three-dimensional force measuring module and a computer. The three-dimensional force measuring module comprises a top layer rack, a bottom layer rack, a gradienter, a flexible handle, a supporting base, a three-dimensional force sensor, a data transmitter, a data acquisition instrument, a data processor, a chain ring, a fixing nut, an adjusting nut, a handle fixing piece and a wheel shaft structure. The flexible pressure sensor and the three-dimensional force measuring module are combined, pressure images and spatial three-dimensional force data in the whole walking gait process are continuously collected and processed, testing and analysis of plantar dynamic and static stress distribution are achieved, complete gait tactile information is obtained, and the walking gait measuring device is suitable for being applied to walking gaits. A data analysis template and a parameter index system are provided for application research based on gait tactile information, and the defects of complex test conditions, inconvenient instrument cooperation, synchronization error, complex analysis process and the like are overcome.

Description

Technical Field

[0001] The utility model relates to the field of force measuring platforms, in particular to a force measuring platform integrating gait plantar pressure and three-dimensional force. Background Art

[0002] Gait analysis can analyze and diagnose abnormal movement behaviors. It is an examination method for studying walking patterns. It aims to reveal the key links and influencing factors of gait abnormalities through biomechanical and kinematic methods, thereby guiding rehabilitation evaluation and treatment, and assisting in clinical diagnosis, efficacy evaluation and mechanism research. It has been widely used in motion measurement, medical rehabilitation and disease diagnosis.

[0003] The testing and analysis of gait tactile information is currently divided into two aspects: contact form and vector contact force. The corresponding instruments are mainly plantar pressure distribution and multi-dimensional force platform. Among them, the development process and application technology of plantar pressure measurement can be divided into: Pedography, Solebarograph, In-shoe plantar, Force Plate and Force Platform.

[0004] The footprint method is to analyze the plantar pressure according to the depth of the footprints left on the sand surface. It can only record the peak pressure of the plantar, which can only be qualitative, not quantitative. Plantar pressure scanning uses image analysis technology to obtain the distribution of plantar force. Due to the constraints of the imaging environment, the grayscale change and resolution of the obtained image are limited. It is also a qualitative measurement technology and cannot produce accurate test results. Pressure shoes (pads) and pressure plates convert the pressure changes in various parts of the plantar into electrical signals through force-sensitive sensors, and then through signal conditioning, analog-to-digital conversion, and data acquisition technology, they become digital signals that can be recognized by computers. After the computer analysis software obtains the signal, it performs certain calculations to obtain the force value, and then displays it in the form of images, tables, etc. According to the working principle of the sensor, the plantar pressure distribution measurement sensor can be divided into resistive, piezoelectric and capacitive types. According to the structural form of the sensor, it can be divided into pressure shoes (pads) and pressure plates. Pressure shoes (pads) are used to detect the contact information of the foot / shoe interface, and pressure plates are used to measure the contact information of the foot-ground interface. The force measuring platform also uses force-sensitive sensing technology to detect the three-dimensional spatial forces (Fx, Fy, Fz) acting on the table and their change information. After calculation and analysis by professional software, it can obtain three moments (Mx, My, Mz), the center coordinates of force COP, pure torque Tz, movement speed, acceleration, vertical jump height, power and other dynamic and static indicators.

[0005] Testing and analyzing gait tactile information The information obtained using the above-mentioned single device cannot fully reflect the gait tactile characteristics during movement, and it is difficult to fully and accurately understand the essential laws of the contact between the foot and the supporting surface. Utility Model Content

[0006] In view of the deficiencies in the prior art, the technical problem to be solved by the utility model is to provide a force measuring platform integrating gait plantar pressure and three-dimensional force.

[0007] The technical solution of the utility model to solve the technical problem is to provide a force measuring platform integrating gait plantar pressure and three-dimensional force, characterized in that the force measuring platform includes a flexible pressure sensor, a three-dimensional force measuring module and a computer;

[0008] The three-dimensional force measurement module includes a top frame, a bottom frame, a level, a flexible handle, a support base, a three-dimensional force sensor, a data transmitter, a data acquisition instrument, a data processor, a chain ring, a fixing nut, an adjustment nut, a handle fixing part and a wheel axle structure;

[0009] The top shelf and the bottom shelf are connected by studs to form a whole; the flexible pressure sensor is installed on the table of the top shelf; the flexible pressure sensor is connected to the computer for communication; the two side walls of the top shelf are both provided with mounting grooves and the two side walls are adjacent, and each mounting groove is provided with a level meter;

[0010] The screw parts of several support bases pass through the bottom stage and are slidably installed in the bottom stage; a fixing nut and an adjusting nut are threadedly installed on each support base, the fixing nut is located on the table surface of the bottom stage, and the adjusting nut is located on the bottom surface of the bottom stage, and the fixing and leveling of the support base are achieved by adjusting the fixing nut and the adjusting nut; the three-dimensional force sensor, the data transmitter, the data processor and the data acquisition instrument are all fixed on the table surface of the bottom stage; the top surface and the bottom surface of the three-dimensional force sensor are respectively in contact with the bottom surface of the top stage and the table surface of the bottom stage to achieve force measurement;

[0011] The three-dimensional force sensor is connected to the data acquisition instrument; the data acquisition instrument is connected to the data transmission device; the data transmission device is connected to the data processor; the data processor is connected to the computer;

[0012] Two handle fixings are fixed on the table surface of the bottom frame, located on one side of the bottom frame; a flexible handle is embedded in the middle of the chain link, and both ends are fixed in their respective handle fixings; a plurality of wheel axle structures are installed on the bottom surface of the bottom frame, located on the other side of the bottom frame, and the wheel axle structures are used to move the force measuring platform;

[0013] The wheel axle structure includes a wheel axle fixing part, a wheel axle pull-out part, a roller, a roller and an adjustable flange nut; the wheel axle fixing part is fixed to the bottom surface of the bottom platform; the wheel axle pull-out part is slidably nested in the wheel axle fixing part; a through hole is provided on the wheel axle fixing part, a through slot is provided on the wheel axle pull-out part, the adjustable flange nut passes through the through hole of the wheel axle fixing part and the through slot of the wheel axle pull-out part, and the position of the wheel axle pull-out part in the wheel axle fixing part is adjusted and fixed by loosening or locking the adjustable flange nut; a roller is rotatably installed on the end of the wheel axle pull-out part through a roller.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] (1) The utility model combines a flexible pressure sensor and a three-dimensional force measurement module to continuously collect and process pressure images and spatial three-dimensional force data throughout the walking gait process, thereby realizing the test and analysis of dynamic and static stress distribution on the plantar, obtaining complete gait tactile information, and providing a data analysis template and parameter index system for application research based on gait tactile information, thereby solving many problems such as complex test conditions, inconvenient instrument coordination, synchronization errors, and complex analysis process.

[0016] (2) The utility model is provided with a concealable flexible handle and a wheel axle structure that does not affect the overall leveling of the force platform on both sides, thereby realizing the transportation of the force platform and meeting the requirements of portability and mobility of the force platform. The venue can be freely changed and the specifications of the limited venue can be quickly assembled, providing a scientific basis for more application scenarios such as sports scientific research, sports training guidance, medical research, and rehabilitation training guidance for disabled persons, and solving the problems of inconvenient installation of the force platform and immovability after installation.

[0017] (3) The top frame of the utility model is provided with a level gauge in the Fx and Fy directions, and the bottom frame is provided with an adjustable support base. The leveling of the force platform is achieved through the cooperation of the two. It does not depend on the flatness of the ground, is more convenient to use, and is suitable for more application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is an exploded schematic diagram of the flexible pressure sensor of the utility model;

[0020] Figure 3 It is a three-dimensional schematic diagram of the overall structure of the three-dimensional force measurement module of the utility model;

[0021] Figure 4 It is a right side schematic diagram of the overall structure of the three-dimensional force measurement module of the utility model;

[0022] Figure 5This is a schematic diagram of the installation of the table top of the bottom shelf of the utility model;

[0023] Figure 6 This is a schematic diagram of the installation of the bottom surface of the bottom shelf of the utility model;

[0024] Figure 7 It is a structural schematic diagram of the wheel axle structure of the utility model.

[0025] In the figure, flexible pressure sensor 1, top stage 2, bottom stage 3, level 4, connecting terminal 5, flexible handle 6, supporting base 7, computer 8, three-dimensional force sensor 9, data transmitter 10, data acquisition instrument 11, data processor 12, chain link 13, fixing nut 14, adjusting nut 15, handle fixing part 16, adjustable flange nut 17, plastic sealing layer 18, electrode layer 19, dielectric layer 20, axle fixing part 21, axle pulling part 22, roller 23, roller 24, countersunk bolt 25. DETAILED DESCRIPTION

[0026] The specific embodiments of the present invention are given below. The specific embodiments are only used to further illustrate the present invention in detail and do not limit the protection scope of the claims of the present invention.

[0027] The utility model provides a force measuring platform (abbreviated as force measuring platform) integrating gait plantar pressure and three-dimensional force, characterized in that the force measuring platform comprises a flexible pressure sensor 1, a three-dimensional force measuring module and a computer 8;

[0028] The three-dimensional force measurement module includes a top frame 2, a bottom frame 3, a level 4, a flexible handle 6, a support base 7, a three-dimensional force sensor 9, a data transmitter 10, a data acquisition instrument 11, a data processor 12, a chain link 13, a fixing nut 14, an adjusting nut 15, a handle fixing part 16 and a wheel axle structure;

[0029] The top shelf 2 and the bottom shelf 3 are connected by studs to form a whole; the flexible pressure sensor 1 is installed on the table of the top shelf 2; the flexible pressure sensor 1 is connected to the computer 8 through the sensor acquisition circuit; the two side walls of the top shelf 2 are provided with mounting grooves and the two side walls are adjacent (i.e., Fx and Fy directions), and each mounting groove is provided with a level 4;

[0030] The screw parts of several support bases 7 pass through the bottom stage 3 and are slidably installed in the bottom stage 3; each support base 7 is threadedly installed with a fixing nut 14 and an adjusting nut 15, the fixing nut 14 is located on the table surface of the bottom stage 3, and the adjusting nut 15 is located on the bottom surface of the bottom stage 3, and the fixing and leveling of the support base 7 are achieved by adjusting the fixing nut 14 and the adjusting nut 15; the three-dimensional force sensor 9, the data transmitter 10, the data processor 12 and the data acquisition instrument 11 are all fixed on the table surface of the bottom stage 3; the top surface and the bottom surface of the three-dimensional force sensor 9 are respectively in contact with the bottom surface of the top stage 2 and the table surface of the bottom stage 3 to achieve force measurement;

[0031] The three-dimensional force sensor 9 is connected to the data acquisition instrument 11 through a data line, and the mechanical data collected by the three-dimensional force sensor 9 is sent to the data acquisition instrument 11; the data acquisition instrument 11 is connected to the data transmitter 10 through a data line to complete the data transmission; the data transmitter 10 is connected to the data processor 12 through a data line, and the mechanical data is processed in the data processor 12; the data processor 12 is connected to the computer 8 through the connection terminal 5 for analysis and display;

[0032] Two handle fixings 16 are fixed on the table surface of the bottom frame 3 by countersunk screws, and are located on one side of the bottom frame 3; a flexible handle 6 is embedded in the middle of the chain link 13, and both ends are fixed in their respective handle fixings 16; a plurality of wheel axle structures are installed on the bottom surface of the bottom frame 3, and are located on the other side of the bottom frame 3, and the wheel axle structures are used to move the force measuring platform;

[0033] The wheel axle structure includes an axle fixing part 21, an axle pull-out part 22, a roller 23, a roller 24 and an adjustable flange nut 17; the axle fixing part 21 is fixed to the bottom surface of the bottom platform 3 by a countersunk bolt 25; the axle pull-out part 22 is slidably nested in the axle fixing part 21; a through hole is provided on the axle fixing part 21, and a through groove is provided on the axle pull-out part 22; the adjustable flange nut 17 passes through the through hole of the axle fixing part 21 and the through groove of the axle pull-out part 22, and the position of the axle pull-out part 22 in the axle fixing part 21 is adjusted and fixed by loosening or locking the adjustable flange nut 17; the end of the axle pull-out part 22 is rotatably installed with a roller 24 through the roller 23.

[0034] Preferably, the flexible pressure sensor 1 is a capacitive flexible pressure sensor, including a plastic sealing layer 18, an electrode layer 19 and a dielectric layer 20; the flexible pressure sensor 1 adopts a sandwich structure, which is composed of a plastic sealing layer 18, an electrode layer 19, a dielectric layer 20, an electrode layer 19 and a plastic sealing layer 18 arranged in sequence from top to bottom.

[0035] Preferably, the material of the plastic sealing layer 18 is TPU thermoplastic polyurethane elastomer.

[0036] Preferably, the screw rod parts of the four supporting bases 7 pass through the bottom frame 3 and are slidably installed at the four corners of the bottom frame 3 .

[0037] Preferably, four three-dimensional force sensors 9 are distributed at four corners of the table top of the bottom platform 3 .

[0038] Preferably, the three-dimensional force sensor 9 adopts a double-beam structure.

[0039] Preferably, the table top of the bottom shelf 3 is provided with a groove for accommodating the flexible handle 6 and the chain ring 13 .

[0040] Preferably, at least two wheel axle structures are installed on the bottom surface of the bottom platform 3 in parallel and equidistantly.

[0041] The working principle and workflow of the utility model are:

[0042] When the force measuring platform is not in use, the flexible handle 6 and the chain ring 13 are located in the groove of the table surface of the bottom frame 3; the axle pull-out member 22 is completely in the axle fixing member 21 and is fixed by the adjustable flange nut 17, and the roller 24 is now located within the coverage range of the bottom frame 3.

[0043] When the force platform needs to be used, the user loosens the adjustable flange nut 17, slides the wheel axle pull-out piece 22 out of the wheel axle fixing piece 21 until the roller 24 extends out of the bottom frame 3, and then tightens the adjustable flange nut 17; then the user takes out the flexible handle 6 from the groove on the surface of the bottom frame 3 and holds the flexible handle 6 to pull up one end of the force platform, at which time the roller 24 contacts the ground; the user drags the force platform and moves the force platform from the storage position to the test position through the rolling of the roller 24.

[0044] After the force platform is moved to the test position, the flexible handle 6 and the chain ring 13 are placed in the groove of the table surface of the bottom frame 3, and the adjustable flange nut 17 is loosened at the same time, the wheel axle pull-out piece 22 is completely slid into the wheel axle fixing piece 21, and then the adjustable flange nut 17 is tightened; then the level meter 4 is used to determine whether it is necessary to perform leveling operation of the force platform by adjusting the fixing nut 14 and the adjusting nut 15 or by installing a gasket at the bottom of the supporting base 7; after the leveling is completed, the test is started, and the person being tested walks or moves on the force platform, the flexible pressure sensor 1 obtains the gait contact image of the person being tested (that is, the contact form of the moving object and the force platform) and transmits it to the computer 8, and the three-dimensional force sensor 9 obtains the contact image of the person being tested. The mechanical information of the tester (i.e., vector contact force) is transmitted to the computer 8 via the data acquisition instrument 11, the data transmitter 10 and the data processor 12, and multiple dynamic and static indicators such as the three-dimensional force information of the tester (i.e., the component forces and resultant forces in the horizontal, vertical and longitudinal directions), the pressure spectrum (the distribution of forces in the contact image between the moving object and the force platform), the maximum pressure (the value of the maximum force measured by the force platform), the pressure center trajectory (the trajectory formed by the pressure application point, also known as the COP trajectory) are obtained. Complete gait tactile information can be obtained, and real-time graphic display and storage are provided for analysis by scientific researchers and coaches, so as to provide data analysis templates and parameter indicator systems for application research based on gait tactile information.

[0045] Anything not described in the present invention is applicable to the prior art.

Claims

1. A force platform integrating gait plantar pressure and three-dimensional force, characterized in that: The force measuring platform comprises a flexible pressure sensor (1), a three-dimensional force measuring module and a computer (8); The three-dimensional force measurement module comprises a top frame (2), a bottom frame (3), a level (4), a flexible handle (6), a support base (7), a three-dimensional force sensor (9), a data transmitter (10), a data acquisition device (11), a data processor (12), a chain link (13), a fixing nut (14), an adjusting nut (15), a handle fixing part (16) and a wheel axle structure; The top platform (2) and the bottom platform (3) are connected by studs to form a whole; the flexible pressure sensor (1) is installed on the table top of the top platform (2); the flexible pressure sensor (1) is connected to the computer (8) for communication; the two side walls of the top platform (2) are both provided with installation grooves and the two side walls are adjacent, and each installation groove is provided with a level meter (4); The screw rod parts of several support bases (7) pass through the bottom stage (3) and are slidably installed in the bottom stage (3); a fixing nut (14) and an adjusting nut (15) are threadedly installed on each support base (7); the fixing nut (14) is located on the table surface of the bottom stage (3), and the adjusting nut (15) is located on the bottom surface of the bottom stage (3); the fixing and leveling of the support base (7) are achieved by adjusting the fixing nut (14) and the adjusting nut (15); the three-dimensional force sensor (9), the data transmitter (10), the data processor (12) and the data acquisition instrument (11) are all fixed on the table surface of the bottom stage (3); the top surface and the bottom surface of the three-dimensional force sensor (9) are respectively in contact with the bottom surface of the top stage (2) and the table surface of the bottom stage (3) to achieve force measurement; The three-dimensional force sensor (9) is connected to the data acquisition device (11); the data acquisition device (11) is connected to the data transmission device (10); the data transmission device (10) is connected to the data processor (12); the data processor (12) is connected to the computer (8); Two handle fixings (16) are fixed on the table surface of the bottom platform (3) and are located on one side of the bottom platform (3); a flexible handle (6) is embedded in the middle of the chain link (13), and both ends are respectively fixed in their respective handle fixings (16); a plurality of wheel axle structures are installed on the bottom surface of the bottom platform (3) and are located on the other side of the bottom platform (3), and the wheel axle structures are used to move the force measuring platform; The wheel axle structure comprises a wheel axle fixing part (21), a wheel axle pull-out part (22), a roller (23), a roller (24) and an adjustable flange nut (17); the wheel axle fixing part (21) is fixed on the bottom surface of the bottom platform (3); the wheel axle pull-out part (22) is slidably nested in the wheel axle fixing part (21); a through hole is formed on the wheel axle fixing part (21), a through slot is formed on the wheel axle pull-out part (22), the adjustable flange nut (17) passes through the through hole of the wheel axle fixing part (21) and the through slot of the wheel axle pull-out part (22), and the position of the wheel axle pull-out part (22) in the wheel axle fixing part (21) is adjusted and fixed by loosening or locking the adjustable flange nut (17); the roller (24) is rotatably mounted on the end of the wheel axle pull-out part (22) via the roller (23).

2. The force platform integrating gait plantar pressure and three-dimensional force according to claim 1, characterized in that: The flexible pressure sensor (1) comprises a plastic sealing layer (18), an electrode layer (19) and a dielectric layer (20); the flexible pressure sensor (1) is composed of a plastic sealing layer (18), an electrode layer (19), a dielectric layer (20), an electrode layer (19) and a plastic sealing layer (18) which are arranged in sequence from top to bottom.

3. The force platform integrating gait plantar pressure and three-dimensional force according to claim 2, characterized in that: The material of the plastic sealing layer (18) is TPU thermoplastic polyurethane elastomer.

4. The force platform integrating gait plantar pressure and three-dimensional force according to claim 1, characterized in that: The screw rod parts of the four supporting bases (7) pass through the bottom frame (3) and are slidably mounted on the four corners of the bottom frame (3).

5. The force platform integrating gait plantar pressure and three-dimensional force according to claim 1, characterized in that: Four three-dimensional force sensors (9) are distributed at the four corners of the table top of the bottom table frame (3).

6. The force platform integrating gait plantar pressure and three-dimensional force according to claim 1, characterized in that: The three-dimensional force sensor (9) adopts a double-beam structure.

7. The force platform integrating gait plantar pressure and three-dimensional force according to claim 1, characterized in that: The table top of the bottom shelf (3) is provided with a groove for accommodating the flexible handle (6) and the chain ring (13).

8. The force platform integrating gait plantar pressure and three-dimensional force according to claim 1, characterized in that: At least two wheel axle structures are installed in parallel and equidistantly on the bottom surface of the bottom platform (3).

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