Robot foot device with sole pressure detection function

Abstract

The invention is suitable for the technical field of robot walking, and provides a robot foot device with a sole pressure detection function. The device comprises an upper bottom plate, a buffer cushion and a lower bottom plate which are stacked from top to bottom. A plurality of single-dimensional force sensors are arranged on the upper bottom plate. Each single-dimensional force sensor comprisesa buffer part and a detection piece, wherein the buffer part is fixed at the bottom of the detection piece, and the detection piece is electrically connected with an electronic circuit. First throughholes are formed in the positions, corresponding to the single-dimensional force sensors, of the buffer pad; the buffer parts are embedded in the first through holes, and supporting columns extendingupwards are arranged at the positions, corresponding to the buffer parts, of the lower bottom plate. Second through holes are further formed in the buffer pad and internally provided with pressure springs. The robot foot device ensures the rigidity requirement of feet of a robot and also has a buffering function, the sole pressure distribution condition in the operation process of the robot can be accurately detected in real time, and then data bases are provided for autonomous stable walking of the robot.

Description

technical field [0001] The invention belongs to the technical field of robot walking, and in particular relates to a robot foot device with a plantar pressure detection function. Background technique [0002] For exoskeleton walking rehabilitation robots, in order to achieve stable and continuous walking, in order not to fall during the process of walking, it is necessary to plan the gait of the robot, and the gait planning needs to rely on a stability criterion. The ZMP (Zero Moment Point, zero moment point) stability criterion is one of the most widely used stability criteria for walking robots at present, and the device of the present invention is also designed based on the principle of this criterion. ZMP refers to the intersection of the extension line of the resultant force vector of gravity, inertial force and ground reaction force on the exoskeleton or biped robot and the ground. During the walking movement of the robot, its ZMP should always remain within the effec...

AI Technical Summary

Problems solved by technology

[0010] It can be seen from the above-mentioned relatively similar technologies that the existing plantar pressure detection device has a relatively complicated structure, relatively expensive cost, and is not very convenient to maintain.

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