Human vola-emulated mechanism with force-sensing ability

Abstract

The invention provides a humanoid foot sole with toe joints, which can detect the vertical pressure of the sole of the foot, and has the characteristics of clear movement mode, simple structure, etc., and a humanoid foot sole mechanism with force perception capability. It includes a forefoot, a rear foot, a force-sensing detection component, a rotating shaft connecting the forefoot and a rear foot, and related transmission components. Each force-sensing detection component includes a cantilever beam, two strain gauges, two bolts, An adjustment nut, a sleeve, a guide block, and an impact-resistant polyurethane rubber block; the rotating shaft connecting the forefoot and the rear foot and related transmission components include a rotating shaft, a bearing, a bearing end seat, a shaft support seat, and a motor seat , gears, synchronous toothed belts, tightening screws, DC motors and reducers, encoders. The invention can realize the rotation of toe joints of a simulated human being, has force perception capability, small size, light weight, compact structure, and is economical and feasible, and is suitable for the design requirements of a humanoid robot foot mechanism.

Description

(1) Technical field [0001] The invention belongs to the field of robot and machine manufacturing, and in particular relates to a humanoid foot sole mechanism with force perception capability. (2) Background technology [0002] In recent years, humanoid robots have aroused widespread interest of scholars at home and abroad, and have achieved amazing and great results, especially in simulating human actions, cooperating with humans, and language communication. The more successful and influential humanoid robots at home and abroad include the Asim robot of Japan’s Honda, the QRIO robot of Japan’s Sony Corporation, the Johnnie biped robot of the Applied Mechanics Laboratory of the Technical University of Munich, Germany, and the Beijing Institute of Technology’s robot. "Huitong" robot, but in these designs, the sole of the robot is generally simplified and designed as a rigid flat structure, ignoring the movement function of the toe joints during normal walking. [0003] In rec...

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Problems solved by technology

The more successful and influential humanoid robots at home and abroad include the Asim robot of Japan’s Honda, the QRIO robot of Japan’s Sony Corporation, the Johnnie biped robot of the Applied Mechanics Laboratory of the Technical University of Munich, Germany, and the Beijing Institute of Technology’s robot. "Huitong" robot, but in these designs, the sole of the robot is generally designed as a rigid flat plate structure, ignoring the movement function of the toe joints in normal walking.

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