Human vola-emulated mechanism with force-sensing ability

Abstract

The invention relates to a simulated sole with toe joint, which can detect the vertical pressure of sole, with simple structure, wherein it comprises front sole, back sole, sensitive detector, rotation axle connecting front and back soles, and relative transmitters. Each sensitive detector comprises one suspension beam, two stress plates, two bolts, one adjustable nut, one muffle, one guide block, one anti-impact polyester rubber block. The rotation axle and transmitters comprise rotation axle, bearing, bearing base, axial base, motor base, gear, synchronous tooth band, bolt, direct-current motor, speed reducer, and coder. The invention can simulate the toe motion of human, with small volume, light weight, and compact structure.

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 designed to be simplified into a rigid flat structure, ignoring the movement function of the toe joints during normal walking. [0003] In...

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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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