Bionic foot with variable stiffness toe and heel joints

Abstract

The invention provides a bionic foot with variable stiffness toe and heel joints. The bionic foot with the variable stiffness toe and heel joints comprises a structural main body, a first connecting mechanism and a second connecting mechanism, wherein the structural main body comprises a sole, toes and heels; the toes and the heels can pivot relative to the sole; the first connecting mechanism isconnected between the sole and the toes and / or between the sole and the heels; the first connecting mechanism comprises an elastic part; the elastic part can generate elastic bending with the rotatingof the toes and / or the heels so as to provide a reverse moment for the rotation; and the second connecting mechanism is connected between the sole and a leg of a bionic robot, wherein the stiffness of the elastic part changes in a non-linear manner with the bending angle. According to the bionic foot with the variable stiffness toe and heel joints, by using a connecting rod mechanism, the rotations of the toe and / or heel joints are converted into bending of a glass fiber plate; the bending stiffness is enhanced with increasing of the turning angle of the toes and / or the heels; and therefore,plastic deformation is uneasy to generate.

Description

technical field [0001] The invention relates to a bionic foot, which belongs to the technical field of humanoid robots. Background technique [0002] The current humanoid robot mainly relies on the soles of the feet to contact the ground, and is a floating-based robot. The stability of a humanoid robot has a lot to do with the interaction between the soles of the feet and the ground. When human beings walk or run, the heels usually touch the ground first, and the toes leave the ground. This is to use gravity to passively generate forward motion with less effort. When the heel touches the ground, due to the elasticity of human tissue, it can absorb the impact well and reduce the unstable factors. When the toes are off the ground, a large backward thrust is provided, enabling people to walk quickly. The source of the thrust is partly the release of energy stored in the tendon during the compression of the toe. In the field of robotics, more reference to human locomotion i...

AI Technical Summary

Problems solved by technology

But the stiffness of the toe joint of this invention is constant, and the stiffness cannot be increased according to the increase of the bending angle

The spring compression torque changes linearly, and the energy storage capacity is limited

[0005] It can be seen that the design of the bionic foot in the prior art has the defects of being unable to change the rigidity of the toe joints and poor energy storage effect, and it is necessary to solve the technical problems of instability and low energy efficiency of the flat soles after impact

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