Ankle joint, control method thereof, artificial leg and robot

Abstract

The present invention discloses an ankle joint and a control method thereof, a prosthetic leg and a robot. The ankle joint includes: a foot connection structure; a leg connection structure, which is rotatably connected to the foot connection structure; a driving mechanism, which is arranged on the leg connection structure and connected to the foot connection structure; a homing mechanism, which is connected to the driving mechanism; the driving mechanism is configured to drive the foot connection structure to rotate relative to the leg connection structure along the front-back direction of the foot; and the homing mechanism is configured to return the foot connection structure to its initial position. During walking, a real foot rotates back and forth to present different postures. The present application drives the foot connection structure to rotate back and forth through a driving mechanism, and combines the homing effect of the homing mechanism to make the foot present different postures. The ankle joint of the present application is closer to the ankle joint of a real foot, thereby improving the bionic effect of the ankle joint and the foot.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to an ankle joint and a control method thereof, a prosthetic leg and a robot. Background Art

[0002] In the field of prosthetics or robotics, joints are important components for displaying various postures. The movement of the ankle joint plays an indispensable role in every gait cycle of human walking, and also plays a very important role in various postures of human walking, running, etc.

[0003] The existing technology mainly focuses on the knee joint and ignores the ankle joint. The calf and foot are usually rigidly connected, which makes the bionic effect of the ankle joint poor.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an ankle joint and its control method, a prosthetic leg and a robot in response to the above-mentioned defects of the prior art, aiming to solve the problem of poor bionic effect of the ankle joint in the prior art.

[0006] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0007] An ankle joint, comprising:

[0008] Foot connection structure;

[0009] a leg connection structure, rotatably connected to the foot connection structure;

[0010] a driving mechanism, disposed on the leg connection structure and connected to the foot connection structure;

[0011] a homing mechanism connected to the driving mechanism;

[0012] wherein the driving mechanism is configured to drive the foot connection structure to rotate relative to the leg connection structure along the front-back direction of the foot;

[0013] The return mechanism is configured to return the foot connection structure to an initial position.

[0014] The ankle joint, wherein the ankle joint further comprises:

[0015] a motion sensor, disposed on the leg connection structure;

[0016] Wherein, the motion sensor is configured to detect the motion state of the leg connection structure.

[0017] The ankle joint, wherein the driving mechanism comprises:

[0018] a first driving member, disposed on the leg connection structure;

[0019] a first connecting rod connected to the output shaft of the first driving member;

[0020] a second connecting rod, rotatably connected to the first connecting rod;

[0021] a third connecting rod, rotatably connected to the second connecting rod;

[0022] Wherein, the third connecting rod is connected to the foot connecting structure and rotates relative to the leg connecting structure.

[0023] The ankle joint, wherein the homing mechanism comprises:

[0024] a first elastic structure connected to the leg connection structure and the first connecting rod respectively;

[0025] The first elastic structure provides elastic force for returning the first connecting rod.

[0026] The ankle joint, wherein the foot connection structure comprises:

[0027] a first connecting structure, rotatably connected to the leg connecting structure;

[0028] a second connecting structure, rotatably connected to the first connecting structure;

[0029] a second elastic structure, connecting the first connecting structure and the second connecting structure respectively;

[0030] wherein the first connecting structure rotates relative to the leg connecting structure in the front-to-back direction of the foot;

[0031] The second connecting structure rotates relative to the first connecting structure along the left-right direction of the foot.

[0032] The ankle joint, wherein the ankle joint further comprises:

[0033] The damping mechanism is rotatably arranged on the leg connecting structure and connected to the foot connecting structure.

[0034] The ankle joint, wherein the damping mechanism comprises:

[0035] a fourth connecting rod, rotatably connected to the foot connecting structure;

[0036] a fifth connecting rod, rotatably connected to the fourth connecting rod and the leg connecting structure;

[0037] a damping structure, rotatably disposed on the leg connection structure and rotatably connected to the fifth connecting rod;

[0038] an adjusting structure, rotatably disposed on the leg connecting structure and connected to the damping structure;

[0039] Wherein, the adjustment structure is configured to adjust the damping of the damping structure.

[0040] A prosthetic leg, comprising the ankle joint as described above.

[0041] A robot comprising the ankle joint as described above, or the prosthetic leg as described above.

[0042] A method for controlling an ankle joint as described in any one of the above, comprising the steps of:

[0043] Determining the motion state of the leg connection structure based on the motion sensor; the motion state includes: a forward motion state and a stable state;

[0044] According to the forward movement state of the leg connection structure, the foot connection structure is controlled by the driving mechanism to rotate forward, and after the leg connection structure becomes a stable state, the foot connection structure is controlled by the driving mechanism to rotate backward.

[0045] The ankle joint control method, wherein the motion state further includes: a backward motion state; the control method further includes:

[0046] According to the backward movement state of the leg connection structure, the foot connection structure is controlled by the driving mechanism to rotate backward, and after the leg connection structure becomes a stable state, the foot connection structure is controlled by the driving mechanism to rotate forward.

[0047] The ankle joint control method further comprises:

[0048] According to the movement state of the leg connection structure, the damping of the damping structure is controlled by adjusting the structure.

[0049] Beneficial Effect: During walking, a real foot rotates forward and backward to present different postures. This application uses a driving mechanism to drive the foot connection structure forward and backward, combined with the return function of the homing mechanism, to enable the foot to present different postures. The ankle joint of this application is closer to the ankle joint of a real foot, enhancing the bionic effect of the ankle joint and foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 1 is a first structural diagram of the ankle joint and foot plate structure in an embodiment of the present invention.

[0051] Figure 2 2 is a second structural diagram of the ankle joint and foot plate structure in an embodiment of the present invention.

[0052] Figure 3 yes Figure 2 Magnified view of the mid-ankle joint.

[0053] Figure 4 1 is a first structural diagram of the driving mechanism and the foot connection structure in an embodiment of the present invention.

[0054] Figure 5 2 is a second structural diagram of the driving mechanism and the foot connection structure in an embodiment of the present invention.

[0055] Figure 6 1 is a side view of the ankle joint and foot plate structure in an embodiment of the present invention.

[0056] Figure 7 2 is a cross-sectional view of an ankle joint according to an embodiment of the present invention.

[0057] Figure 8 3 is a schematic diagram of the third structure of the ankle joint and foot plate structure in an embodiment of the present invention.

[0058] Figure 9 2 is a cross-sectional view of an ankle joint according to an embodiment of the present invention.

[0059] Figure 10 1 is a first structural diagram of the damping mechanism and the foot connection structure in an embodiment of the present invention.

[0060] Figure 11 2 is a second structural diagram of the damping mechanism and the foot connection structure in an embodiment of the present invention.

[0061] Figure 12 2 is a structural diagram of the foot plate structure in an embodiment of the present invention.

[0062] Figure 13 Schematic diagram of the foot structure in the tiptoe state according to an embodiment of the present invention.

[0063] Figure 14 Schematic diagram of the foot structure in a tiptoe position according to an embodiment of the present invention.

[0064] Description of reference numerals:

[0065] 10. Foot connection structure; 11. First connection structure; 12. Second connection structure; 13. Second elastic structure; 20. Leg connection structure; 30. Driving mechanism; 31. First driving member; 32. First connecting rod; 33. Second connecting rod; 34. Third connecting rod; 40. Return mechanism; 51. Motion sensor; 52. Controller; 60. Damping mechanism; 61. Fourth connecting rod; 62. Fifth connecting rod; 63. Damping structure; 64. Adjustment structure; 641. Second driving member; 642. Driving gear; 643. Driven gear; 70. Foot structure; 71. Back; 72. Palm; 73. Heel. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0067] Please also see Figures 1-14 , the present invention provides some embodiments of an ankle joint.

[0068] like Figure 1-Figure 2 As shown, the ankle joint of the present invention comprises:

[0069] Foot connection structure 10;

[0070] a leg connection structure 20, rotatably connected to the foot connection structure 10;

[0071] a driving mechanism 30 , provided on the leg connection structure 20 and connected to the foot connection structure 10 ;

[0072] a homing mechanism 40 connected to the driving mechanism 30;

[0073] The driving mechanism 30 is configured to drive the foot connection structure 10 to rotate relative to the leg connection structure 20 along the front-back direction of the foot;

[0074] The return mechanism 40 is configured to return the foot connection structure 10 to an initial position.

[0075] Specifically, the foot connection structure 10 is connected to the foot plate structure 70, and the leg connection structure 20 is connected to the leg structure. The foot connection structure 10 and the leg connection structure 20 rotate relative to each other, thereby changing the posture of the entire structure. The drive mechanism 30 is used to drive the foot connection structure 10 to rotate relative to the leg connection structure 20, specifically in the front-to-back direction of the foot. The return mechanism 40 is used to rotate the foot connection structure 10 relative to the leg connection structure 20 and return it to its initial position. The initial position is where the central axis of the foot connection structure 10 coincides with the central axis of the leg connection structure, and the foot plate structure 70 and the leg structure are approximately perpendicular.

[0076] When the foot plate structure 70 is in a natural state, the foot connection structure 10 is in an initial position, and the central axis of the foot connection structure 10 coincides with the central axis of the leg connection structure. Figure 13 As shown, when the driving mechanism 30 drives the foot connection structure 10 to rotate toward the front of the foot, the foot plate structure 70 is in a toe-tip state; Figure 14As shown, when the driving mechanism drives the foot connection structure 10 to rotate toward the rear of the foot, the foot plate structure 70 is in the tiptoe position. Regardless of whether the foot plate structure 70 is in the tiptoe position or the tiptoe position, after the driving mechanism 30 stops driving, the return mechanism 40 will return the foot connection structure 10 to its original position, so that the foot connection structure 10 is in the natural position.

[0077] During walking, when the first real foot steps forward, it is in a tiptoe position. After the first real foot touches the ground, the first real foot gradually returns to its natural position. When the second real foot steps forward, the first real foot gradually changes from its natural position to a tiptoe position. After the first real foot leaves the ground, the first real foot gradually returns to its natural position. As can be seen, during walking, the real foot rotates back and forth, assuming different postures. The present invention utilizes a drive mechanism 30 to drive the foot connection structure 10 to rotate back and forth, combined with the return function of the homing mechanism 40, to enable the foot to assume different postures. The ankle joint of the present invention is closer to that of a real foot, enhancing the bionic effect of the ankle joint and foot.

[0078] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the ankle joint also includes:

[0079] A motion sensor 51 is provided on the leg connection structure 20;

[0080] The motion sensor 51 is configured to detect the motion state of the leg connection structure 20 .

[0081] Specifically, the leg connection structure 20 is also equipped with a motion sensor 51. The motion sensor 51 detects the motion state of the leg connection structure 20, which includes at least one of a forward motion state, a backward motion state, and a stable state. When the leg connection structure 20 is off the ground and taking a step forward, it is in a forward motion state; when the leg connection structure 20 is off the ground and taking a step backward, it is in a backward motion state; and when the leg connection structure 20 is in contact with the ground, it is in a stable state. The motion sensor 51 can determine the motion state of the foot connection structure 10, and based on the motion state, the drive mechanism 30 is controlled to drive the foot connection structure 10 to rotate forward and backward.

[0082] The ankle joint further includes a controller 52 electrically connected to the drive mechanism 30 and the motion sensor 51 . The controller 52 acquires the motion state sensed by the motion sensor 51 and controls the drive mechanism 30 .

[0083] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 6 As shown, the driving mechanism 30 includes:

[0084] A first driving member 31 is provided on the leg connecting structure 20;

[0085] A first connecting rod 32 connected to the output shaft of the first driving member 31;

[0086] A second connecting rod 33, rotatably connected to the first connecting rod 32;

[0087] A third connecting rod 34 is rotatably connected to the second connecting rod 33;

[0088] The third connecting rod 34 is connected to the foot connecting structure 10 and rotates relative to the leg connecting structure 20 .

[0089] Specifically, the first driving member 31 drives the first connecting rod 32 to rotate, which in turn drives the second connecting rod 33 and the third connecting rod 34 to rotate, thereby driving the foot connecting structure 10 to rotate relative to the leg connecting structure 20 via the third connecting rod 34. The leg connecting structure 20 is provided with two ring structures, which are sleeved outside the third connecting rod 34.

[0090] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 5 As shown, the homing mechanism 40 includes:

[0091] a first elastic structure connected to the leg connection structure 20 and the first connecting rod 32 respectively;

[0092] The first elastic structure provides elastic force for returning the first connecting rod 32 .

[0093] Specifically, the return mechanism 40 utilizes a first elastic structure, which is connected to the leg connection structure 20 and the first connecting rod 32, respectively. When the foot connection structure 10 is in its initial position relative to the leg connection structure 20, the first elastic structure is in its natural state. When the first driving member 31 rotates the first connecting rod 32, the first elastic structure deforms, and the elastic force provided by the first elastic structure returns the first connecting rod 32 to its natural state. The first elastic structure can utilize a torsion spring, which provides elastic force when the first connecting rod 32 rotates clockwise or counterclockwise.

[0094] In a preferred implementation of the embodiment of the present invention, Figures 1-4 As shown, the foot connection structure 10 includes:

[0095] A first connecting structure 11 is rotatably connected to the leg connecting structure 20;

[0096] A second connecting structure 12, rotatably connected to the first connecting structure 11;

[0097] A second elastic structure 13, connected to the first connecting structure 11 and the second connecting structure 12 respectively;

[0098] The first connecting structure 11 rotates relative to the leg connecting structure 20 along the front-back direction of the foot; and the second connecting structure 12 rotates relative to the first connecting structure 11 along the left-right direction of the foot.

[0099] Specifically, the foot connection structure 10 is divided into two parts: a first connection structure 11 and a second connection structure 12. The first connection structure 11 and the second connection structure 12 are rotationally connected to each other, and the first connection structure 11 and the leg connection structure 20 are also rotationally connected to each other. A second elastic structure 13 is disposed between the first and second connection structures 11, 12, and provides an elastic force to return the first connection structure 11 relative to the second connection structure 12. The first connection structure 11 rotates left and right relative to the second connection structure 12, and the first connection structure 11 rotates front and back relative to the leg connection structure 20. The elastic forces provided by the first and second elastic structures 13 allow the foot plate structure 70 to move within a certain angular range relative to the leg structure.

[0100] The first connecting structure 11 and the second connecting structure 12 are rotatably connected at a point where they are connected, and there are two groups of second elastic structures 13, which are respectively located on both sides of the rotational center axis. When the first connecting structure 11 rotates to the left relative to the second connecting structure 12, one group of second elastic structures 13 will be forced to deform, and when the first connecting structure 11 rotates to the right relative to the second connecting structure 12, the other group of second elastic structures 13 will be forced to deform.

[0101] In a preferred implementation of the embodiment of the present invention, Figure 7-11 As shown, the ankle joint also includes:

[0102] The damping mechanism 60 is rotatably disposed on the leg connection structure 20 and connected to the foot connection structure 10 .

[0103] Specifically, the elastic coefficient of the first elastic structure is smaller than the elastic coefficient of the second elastic structure 13, so that the foot plate structure 70 is less likely to rotate left and right, but is more likely to rotate forward and backward. The damping mechanism 60 is configured to provide resistance to the forward and backward rotation of the foot plate structure 70, thereby preventing the foot connection structure 10 from rotating relative to the leg connection structure 20 in the forward and backward direction of the foot.

[0104] In a preferred implementation of the embodiment of the present invention, Figures 9-11 As shown, the damping mechanism 60 includes:

[0105] A fourth connecting rod 61 is rotatably connected to the foot connecting structure 10;

[0106] a fifth connecting rod 62 rotatably connected to the fourth connecting rod 61 and the leg connecting structure 20 ;

[0107] a damping structure 63, rotatably disposed on the leg connection structure 20 and rotatably connected to the fifth connecting rod 62;

[0108] an adjusting structure 64 rotatably disposed on the leg connecting structure 20 and connected to the damping structure 63;

[0109] The adjustment structure 64 is configured to adjust the damping of the damping structure 63 .

[0110] Specifically, the damping mechanism 60 is an adjustable damping mechanism, and the damping of the damping structure 63 is adjusted specifically by the adjustment structure 64. When the foot connection structure 10 and the leg connection structure 20 rotate relative to each other, the foot connection structure 10 drives the fourth link 61 and the fifth link 62 to rotate, thereby driving the damping structure 63 to expand and contract, and providing resistance to hinder the relative rotation of the foot connection structure 10 and the leg connection structure 20.

[0111] In a preferred implementation of the embodiment of the present invention, Figure 9-10 As shown, the regulating structure 64 includes:

[0112] A second driving member 641 is rotatably mounted on the leg connecting structure 20;

[0113] A driving gear 642 is provided on the output shaft of the second driving member 641;

[0114] The driven gear 643 is disposed on the damping structure 63 and meshes with the driving gear 642 .

[0115] Specifically, the second driving member 641 drives the driving gear 642 to rotate, and drives the driven gear 643 to rotate, thereby rotating the knob of the damping structure 63 to adjust the damping of the damping structure 63 .

[0116] Based on the ankle joint described in any of the above embodiments, the present invention also provides a preferred embodiment of a method for controlling an ankle joint.

[0117] The ankle joint control method according to an embodiment of the present invention comprises the following steps:

[0118] Step S100: determining a motion state of the leg connection structure based on a motion sensor; the motion state includes at least one of a forward motion state, a backward motion state, and a stable state;

[0119] Step S200: According to the forward movement state of the leg connection structure, the driving mechanism controls the foot connection structure to rotate forward, and after the leg connection structure becomes a stable state, the driving mechanism controls the foot connection structure to rotate backward.

[0120] Specifically, the motion state can be divided into a forward motion state with a large acceleration, a backward motion state with a large acceleration, and a stable state with a small acceleration according to the magnitude of the acceleration. The forward motion state with a large acceleration can also be divided into a walking state with a large acceleration and a running state with an even larger acceleration.

[0121] The foot can walk forward. The ankle joint needs to rotate the foot connection structure forward after the foot plate structure leaves the ground, so that the foot plate structure is in a tiptoe position, which facilitates the subsequent heel landing. After the foot plate structure touches the ground, the foot connection structure slowly rotates backward, so that the foot plate structure is in a tiptoe position, which facilitates the toes to touch the ground.

[0122] The control method also includes:

[0123] Step S300: According to the backward movement state of the leg connection structure, the driving mechanism controls the foot connection structure to rotate backward, and after the leg connection structure becomes a stable state, the driving mechanism controls the foot connection structure to rotate forward.

[0124] Specifically, the foot can also be walked backwards. After the foot plate structure leaves the ground, the ankle joint needs to rotate the foot connection structure backwards, so that the foot plate structure is in a tiptoe position, which is convenient for the toes to touch the ground. After the foot plate structure touches the ground, the foot connection structure is slowly rotated forwards, so that the foot plate structure is in a tiptoe position, which is convenient for the toes to leave the ground.

[0125] The control method also includes:

[0126] Step S400: Controlling the damping of the damping structure by adjusting the structure according to the motion state of the leg connection structure.

[0127] Specifically, the damping of the damping structure can be adjusted according to the state of motion. When walking, the damping structure uses a smaller damping force to facilitate the forward or backward rotation of the foot connection structure controlled by the first driving member. When running, the damping structure uses a larger damping force to facilitate cushioning the impact of the body on the ankle joint, making the foot plate structure more stable during running and less likely to fall.

[0128] Based on the ankle joint described in any one of the above embodiments, the present invention also provides an embodiment of a prosthetic leg.

[0129] like Figure 1 and Figure 2 As shown, the prosthetic leg of the present invention includes: an ankle joint as in any of the above embodiments. The prosthetic leg also includes a foot plate structure 70 and a leg structure. The foot connection structure 10 is connected to the foot plate structure 70, and the leg structure is connected to the leg connection structure 20. Figure 12 As shown, the foot plate structure 70 includes:

[0130] Back portion 71 connected to the foot connection structure 10;

[0131] a palm portion 72 connected to the back portion 71;

[0132] a heel portion 73 connected to the back portion 71;

[0133] The palm portion 72 and the heel portion 73 are spaced apart from each other.

[0134] Specifically, the back portion 71 is connected to the second connection structure 12. The back portion 71 has a certain strength and is deformable. When walking or running, when the palm portion 72 touches the ground and the heel portion 73 is off the ground, the back portion 71 bends, increasing the distance between the palm portion 72 and the heel portion 73. With the support of the palm portion 72, the foot is more stable.

[0135] Based on the ankle joint described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0136] The robot of the present invention includes: an ankle joint as described in any one of the above embodiments or a prosthetic leg as described in any one of the above embodiments.

[0137] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. An ankle joint, characterized in that: include: Foot connection structure; a leg connection structure, rotatably connected to the foot connection structure; a driving mechanism, disposed on the leg connection structure and connected to the foot connection structure; a homing mechanism connected to the driving mechanism; wherein the driving mechanism is configured to drive the foot connection structure to rotate relative to the leg connection structure along the front-back direction of the foot; The homing mechanism is configured to return the foot connection structure to an initial position; The foot connection structure includes: a first connecting structure, rotatably connected to the leg connecting structure; a second connecting structure, rotatably connected to the first connecting structure; a second elastic structure, connecting the first connecting structure and the second connecting structure respectively; wherein the first connecting structure rotates relative to the leg connecting structure in the front-to-back direction of the foot; The second connecting structure rotates relative to the first connecting structure along the left and right direction of the foot; The rotational connection between the first connecting structure and the second connecting structure has a rotation center axis. The second elastic structure has two groups, and the two groups of the second elastic structures are respectively located on both sides of the rotation center axis.

2. The ankle joint according to claim 1, characterized in that The ankle joint further comprises: a motion sensor, disposed on the leg connection structure; Wherein, the motion sensor is configured to detect the motion state of the leg connection structure.

3. The ankle joint according to claim 2, characterized in that The driving mechanism comprises: a first driving member, disposed on the leg connection structure; a first connecting rod connected to the output shaft of the first driving member; a second connecting rod, rotatably connected to the first connecting rod; a third connecting rod, rotatably connected to the second connecting rod; Wherein, the third connecting rod is connected to the foot connecting structure and rotates relative to the leg connecting structure.

4. The ankle joint according to claim 3, characterized in that The homing mechanism comprises: a first elastic structure connected to the leg connection structure and the first connecting rod respectively; The first elastic structure provides elastic force for returning the first connecting rod.

5. The ankle joint according to claim 2, characterized in that The ankle joint further comprises: The damping mechanism is rotatably arranged on the leg connecting structure and connected to the foot connecting structure.

6. The ankle joint according to claim 5, characterized in that The damping mechanism comprises: a fourth connecting rod, rotatably connected to the foot connecting structure; a fifth connecting rod, rotatably connected to the fourth connecting rod and the leg connecting structure; a damping structure, rotatably disposed on the leg connection structure and rotatably connected to the fifth connecting rod; an adjusting structure, rotatably disposed on the leg connecting structure and connected to the damping structure; Wherein, the adjustment structure is configured to adjust the damping of the damping structure.

7. A prosthetic leg, characterized in that: It comprises the ankle joint according to any one of claims 1 to 6.

8. A robot, characterized in that: It comprises the ankle joint according to any one of claims 1 to 6, or the prosthetic leg according to claim 7.

9. A method for controlling an ankle joint according to any one of claims 2 to 6, characterized in that: Including steps: Determining the motion state of the leg connection structure based on the motion sensor; the motion state includes: a forward motion state and a stable state; According to the forward movement state of the leg connection structure, the foot connection structure is controlled by the driving mechanism to rotate forward, and after the leg connection structure becomes a stable state, the foot connection structure is controlled by the driving mechanism to rotate backward.

10. The ankle joint control method according to claim 9, characterized in that: The motion state further includes: a backward motion state; the control method further includes: According to the backward movement state of the leg connection structure, the foot connection structure is controlled by the driving mechanism to rotate backward, and after the leg connection structure becomes a stable state, the foot connection structure is controlled by the driving mechanism to rotate forward.

11. The ankle joint control method according to claim 9, characterized in that: The control method further includes: According to the movement state of the leg connection structure, the damping of the damping structure is controlled by adjusting the structure.

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