Human body gait information collection shoe based on foot sole pressure

Abstract

The invention relates to the field of detection of the foot sole pressure of a robot, in particular to a human body gait information collection shoe based on the foot sole pressure. The human body gait information collection shoe comprises a soft shoe sole (1) and a shoe upper; the bottom of the soft shoe sole (1) is evenly provided with spikes (2) and line walking grooves (3); pressure sensors (4) are arranged in the spikes (2) respectively; and the pressure sensors (4) are in wired or wireless connection with a signal collecting center through signal lines in the line walking grooves (3). According to the human body gait information collection shoe based on the foot sole pressure, real time change conditions of the foot sole pressure in different gaits can be comprehensively reflected according to the body mechanics principle; the body gaits can be more accurately measured; and the sensitivity can be improved. In addition, the human body gait information collection shoe is low in cost and comfortable in wear; the measurement accuracy depends on the sensor accuracy only; the environmental adaptability is high; and the human body gait information collection shoe can be used in different terrains and different gaits.

Description

technical field [0001] The invention relates to the field of robot sole pressure detection, in particular to shoes for collecting human body gait information based on sole pressure. Background technique [0002] At present, the ZMP algorithm for robot gait stability has been widely used in the design and measurement of robots, and this algorithm is also applicable to human-machine hybrids. The measurement of plantar pressure has always been a difficult problem, and it is also the focus of realizing the ZMP algorithm. At present, there are three types of measurement systems for plantar pressure at home and abroad: [0003] One is to use a hard sole, and the pressure sensor is placed in the midsole. The advantage is that it is not easily deformed, the pressure sensor has a long service life, and is suitable for biped and multi-legged robots. The disadvantage is that the robot must touch the ground and leave the ground at the same time, and keep in contact with the ground be...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a human body gait information collection shoe based on sole pressure, which solves the problem of uneven pressure detection caused by uneven and uneven force on the soles of existing robots when walking, which cannot accurately reflect the overall pressure of the soles and Changes, the problem of low accuracy of the ZMP curve

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