Bionic mechanical toe

Abstract

The invention discloses a bionic mechanical toe, and relates to the field of bionic toes. Which comprises a foot shell and is provided with a bionic foot buffering sleeve, the bionic foot buffering sleeve is arranged outside the foot shell in a sleeving mode and comprises a simulation foot and five simulation toes which are made of elastic materials and integrally formed; the foot bottom action sensing assembly is used for detecting gravity values of the bottom of the simulation foot in front, rear, left and right areas and the inclination angle of the bottom of the simulation foot; the five toe mechanical components are respectively hinged to the foot shell and are used for driving the simulation toes to grip the ground; the toe ground gripping controller is used for judging whether the five toe assemblies are controlled to grip the ground or not through the toe mechanical assemblies according to the inclination angle; according to the difference between the gravity values of the front area and the rear area of the foot shell or the difference between the gravity values of the left area and the right area of the foot shell, the pressure generated when the corresponding simulation toes grip the ground is adjusted through the toe mechanical assemblies. Toes can be controlled to grip the ground and the pressure can be adjusted, so that the walking balance of the artificial limb is improved.

Description

Technical Field

[0001] The present invention relates to the field of bionic toes, and more particularly to a bionic mechanical toe. Background Art

[0002] The existing prosthetic toes are designed in the following ways: 1. Passive prosthetic toe design: Traditional prosthetic toes are mainly passive, usually made of simple elastic materials (such as silicone or elastic plastic), and only have a basic morphological support function. Their functions are limited to maintaining the aesthetic appearance of the foot and providing partial stability, and they cannot simulate actual movement functions such as toe bending, stretching, or grasping. Although this design is lightweight, its support effect on the patient's walking and movement is limited in actual use, especially for activities that require high balance (such as climbing slopes and running). 2. Fixed-toe prostheses: Some existing toe prostheses are achieved by being fixed to the bottom of the sole. However, these prostheses only provide static support functions. When the patient walks or stands, this fixed structure may cause imbalance and even increase the burden on adjacent toes, further affecting the user's gait and experience. 3. Mechanically driven bionic prosthetic technology: Mechanically driven prosthetic technology is mainly applied in the field of fingers or limb prostheses with large-scale movements, such as hand mechanical prostheses. Such technology usually uses servo motors, wire-pulling mechanisms, or elastic linkages to drive joint movements, and combines sensors to obtain the user's electromyographic signals or pressure signals for control. However, these technologies are less applied in the toe field because: the big toe needs to bear a large ground pressure, and the structure needs to be specially optimized to meet the requirements of stability and durability; the movement space and joint degrees of freedom of the toes are small, making the integration of the drive and sensing systems have high technical challenges; there is a lack of a synchronous control scheme for the big toe, making it difficult for mechanical toes to work in coordination with other toes. 4. Motion capture and sensing control technology: In recent years, motion capture and control technology has made some progress in the field of prostheses. For example, by installing a level gauge and pressure sensors on the prosthesis or foot, motion information is obtained to control the movement of the prosthesis. However, the existing technology mainly focuses on the movement control of the knee joint or ankle joint, and the application of toe movements (especially the synchronous movements with adjacent toes) is not yet mature, and there is still a lack of an efficient and practical solution. 5. Bionic appearance design of toe prostheses: The existing appearance design of toe prostheses usually uses medical silicone to cover and imitates the appearance of real toes through a simple simulation shape. Although this design improves the psychological comfort of the patient, there is almost no improvement in functionality, especially unable to meet the dynamic activity requirements. Especially for disabled people, due to poor balance ability, they have an unstable center of gravity, difficult walking and are prone to falling. Currently, there is a need for a bionic mechanical toe that can achieve toe grasping and adjust pressure to improve walking balance. Summary of the Invention

[0003] The technical problem to be solved by the present invention is how to solve the instability problem of prosthetic limbs. The purpose is to provide a bionic mechanical toe that can control the toe to grip the ground and adjust the pressure, thereby improving the walking balance of the prosthetic limb.

[0004] The present invention is achieved by the following technical solutions:

[0005] A bionic mechanical toe, comprising:

[0006] A foot housing; the above-mentioned foot housing is provided with:

[0007] A bionic foot buffer sleeve, sleeved outside the above-mentioned foot housing, including a simulated foot made of elastic material and integrally formed and five simulated toes;

[0008] A sole motion sensing component, used to detect the gravity values of the bottom of the above-mentioned simulated foot in the front, rear, left and right regions, and the tilt angle of the bottom of the above-mentioned simulated foot;

[0009] Five toe mechanical components, respectively hinged to the above-mentioned foot housing, used to drive each of the above-mentioned simulated toes to perform a gripping action;

[0010] A toe gripping controller, used to judge whether to control the five above-mentioned toe components to grip the ground through each of the above-mentioned toe mechanical components according to the tilt angle; and according to the difference in gravity values between the front and rear regions of the above-mentioned foot housing, or the difference in gravity values between the left and right regions, adjust the pressure when the corresponding above-mentioned simulated toes grip the ground through each of the above-mentioned toe mechanical components.

[0011] When adjusting the pressure when the corresponding above-mentioned simulated toes grip the ground through each of the above-mentioned toe mechanical components according to the difference in gravity values between the front and rear regions of the above-mentioned foot housing, it includes: the greater the difference between the gravity value of the front region and the gravity value of the rear region of the above-mentioned foot housing, the greater the pressure when the above-mentioned toe gripping controller controls each of the above-mentioned simulated toes to grip the ground; conversely, the smaller the pressure when the above-mentioned toe gripping controller controls each of the above-mentioned simulated toes to grip the ground.

[0012] When adjusting the pressure when the corresponding above-mentioned simulated toes grip the ground through each of the above-mentioned toe mechanical components according to the difference in gravity values between the left and right regions of the above-mentioned foot housing, it includes: when the gravity value of the corresponding region of the big toe is lower than the gravity values of other regions, control the pressure when each of the above-mentioned simulated toes grip the ground so that the pressure of the big toe is greater than the pressure of other toes; otherwise, control the pressure when each of the above-mentioned simulated toes grip the ground so that the pressure of the big toe is less than the pressure of other toes.

[0013] The above-mentioned motion sensing component is four gravity sensors and a level; the four above-mentioned gravity sensors are abutted against the bottom of the above-mentioned foot housing and are respectively located in the front, rear, left and right regions of the above-mentioned simulated foot; the above-mentioned level is installed on the above-mentioned foot housing and is located at the bottom of the above-mentioned foot housing.

[0014] The above-mentioned foot shell is provided with a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are respectively rotatably connected to the foot shell; one of the toe mechanical components corresponding to the big toe is installed on the first rotating shaft, and the other four toe mechanical components are sequentially installed on the second rotating shaft; the first rotating shaft is connected with a first servo motor; the second rotating shaft is connected with a second servo motor; the hinged ends of the second joint rod and the second joint rod are connected with a third servo motor; the control ends of the first servo motor and the second servo motor are connected to the toe gripping controller; the control ends of the first servo motor and the second servo motor are respectively connected to the toe gripping controller.

[0015] The above-mentioned foot shell is further provided with a wireless communication module; the wireless communication module is used for the toe gripping controller to obtain the gravity values of the front, rear, left and right regions of the simulation foot.

[0016] The above-mentioned foot shell is further provided with a simulation leg made of rigid material; one end of the simulation leg away from the simulation foot is detachably arranged on the user's leg.

[0017] One end of the simulation leg away from the simulation foot is provided with a first splint, a second splint and an elastic band; one ends of the first splint and the second splint are installed on the outer side of the simulation foot and are arranged oppositely; one end of the elastic band is fixed on the outer side of the simulation foot, and adhesive surfaces are respectively arranged on both sides of the elastic band.

[0018] The above-mentioned toe gripping controller, according to the difference in gravity values between the front and rear regions of the foot shell, or the difference in gravity values between the left and right regions, adjusts the pressure when the corresponding simulation toes grip the ground through each of the toe mechanical components. The judgment basis is: when the difference in gravity values between the front and rear regions of the simulation foot exceeds the preset front and rear gravity threshold, or the difference in gravity values between the left and right regions of the foot shell exceeds the preset left and right gravity threshold range, adjust the pressure when each of the simulation toes grip the ground.

[0019] Each of the above-mentioned simulation toes is provided with a simulation toenail; the simulation toenail is formed by stamping by the corresponding simulation toe.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] The present invention provides a bionic mechanical toe. Through a foot shell and five articulated simulation toes, a simulation foot made of elastic material and integrally formed, and one or five simulation toe covers are sleeved outside, which is convenient for wearing and improves the psychological comfort of patients; the toe grasping controller controls the corresponding simulation toes to grasp the ground according to the front and rear gravity differences and left and right gravity differences of the foot shell, and adjusts the pressure during grasping according to the differences, thereby improving the walking stability of the user. In particular, it solves the problem of easy falling due to difficult walking when going uphill, downhill and turning; the bionic mechanical toe of the present invention can coordinate with other toes, solves the problem that disabled people have difficulty walking and are prone to falling due to poor balance ability, and can realize toe grasping and pressure adjustment, thereby improving walking balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings. In the drawings:

[0023] Figure 1 is a schematic diagram of the bionic mechanical toe of the embodiment of the present application;

[0024] Figure 2 is a schematic diagram of the toe mechanical component of the embodiment of the present application Figure 1 ;

[0025] Figure 3 is a schematic diagram of the toe mechanical component of the embodiment of the present application Figure 2 ;

[0026] Figure 4 is a schematic diagram of the simulation leg of the embodiment of the present application.

[0027] Markings in the drawings and corresponding component names:

[0028] 1 - simulation foot; 2 - simulation toe; 3 - simulation toenail; 4 - first toe rod; 5 - second toe rod; 6 - first rotating shaft; 7 - second rotating shaft; 8 - foot shell; 9 - simulation leg; 10 - first splint; 11 - second splint; 12 - elastic band; DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] To make the purpose, technical solutions and advantages of the present invention clearer, the following will further elaborate on the present invention in detail in combination with the embodiments and drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0030] Embodiment

[0031] As Figures 1 to 4 shown, an embodiment of the present application provides a bionic mechanical toe, including:

[0032] A foot housing 8; the above-mentioned foot housing 8 is provided with:

[0033] A bionic foot buffer sleeve, sleeved outside the above-mentioned foot housing 8, including a simulated foot 1 made of an elastic material and integrally formed and five simulated toes 2;

[0034] A sole motion sensing component, used to detect the gravity values of the bottom of the above-mentioned simulated foot 1 in the front, rear, left, and right regions, and the tilt angle of the bottom of the above-mentioned simulated foot 1;

[0035] Five toe mechanical components, respectively hinged to the above-mentioned foot housing 8, used to drive each of the above-mentioned simulated toes 2 to perform a grasping action;

[0036] A toe grasping controller, used to judge whether to control the five above-mentioned toe components to grasp the ground through each of the above-mentioned toe mechanical components according to the tilt angle; and according to the difference in gravity values between the front and rear regions of the above-mentioned foot housing 8, or the difference in gravity values between the left and right regions, adjust the pressure when the corresponding above-mentioned simulated toes 2 grasp the ground through each of the above-mentioned toe mechanical components.

[0037] The outer shapes of the foot housing 8 and the simulation toes 2 can be designed according to the outer surface of the human body. The five simulation toes 2 are hinged to achieve the movement of the toes. The shape of the bionic foot buffer sleeve imitates the real foot and is made of elastic materials such as rubber and silica gel to achieve shock absorption when the user walks. One end of the five simulation toes 2 extends into the foot housing 8 for hinging, and the foot housing 8 leaves a certain space for the up and down movement of the five simulation toes 2. The toe mechanical components are respectively arranged inside the five simulation toes 2, so as to drive the movement of the simulation toes 2 and the bionic toes on the outer surface. The toe gripping controller can be arranged inside the foot housing 8. When tilting occurs, or tilting to a certain angle, it controls each toe to grip the ground. Especially when walking on uphill, downhill or curves, it can timely maintain the balance state of the body. According to the left and right gravity differences and the front and rear gravity differences of the foot housing 8 during walking, the pressure of each simulation toe 2 is adjusted, so as to adjust the gripping force and improve the gravity balance in the left and right directions and the front and rear directions. Among them, the foot housing 8 is provided with a cavity inside, and the side facing the simulation toes 2 is provided with an opening for the up and down movement of the toe adding components corresponding to each toe, so that the toe mechanical components can be installed in the foot housing 8 and extend into the corresponding simulation toes 2, and can drive the up and down movement of each simulation toe 2 and flexibly perform gripping or stretching actions. Among them, the simulation toe 2 is made of solid rubber, and a smaller installation hole is left inside for installing the toe mechanical components, so that the toe mechanical components are in contact with the inside of the simulation toe 2, which is convenient for the toe mechanical components to drive the movement of the simulation toe 2. The foot housing 8 of the bionic mechanical toe in the embodiment of the present application can be installed on the existing prosthesis in any installation manner for the user to wear and use.

[0038] When adjusting the pressure when the corresponding simulation toe 2 grips the ground through each of the above-mentioned toe mechanical components according to the gravity value difference between the front and rear regions of the foot housing 8, it includes: the greater the difference between the gravity value of the front region and the gravity value of the rear region of the foot housing 8, the greater the pressure when the toe gripping controller controls each of the above-mentioned simulation toes 2 to grip the ground; on the contrary, the pressure when the toe gripping controller controls each of the above-mentioned simulation toes 2 to grip the ground is smaller.

[0039] According to the magnitude of the gravity difference in the bottom region of the foot housing 8, different intervals can be set to adjust the different pressure magnitudes when the simulation toes 2 grip the ground, so as to improve the smoothness and comfort of walking with the prosthesis. The specific adjusted numerical value can be adjusted according to the actual changes at that time, so as to achieve the gravity balance effect through gripping the ground, so there is no need to be limited within a specific range.

[0040] When adjusting the pressure when the corresponding simulated toes 2 grip the ground through each of the above-mentioned toe mechanical components according to the difference in gravity values of the left and right regions of the above-mentioned foot shell 8, it includes: when the gravity value of the corresponding region of the big toe is lower than the gravity values of other regions, controlling the pressure when each of the above-mentioned simulated toes 2 grip the ground so that the pressure of the big toe is greater than the pressure of other toes; otherwise, controlling the pressure when each of the above-mentioned simulated toes 2 grip the ground so that the pressure of the big toe is less than the pressure of other toes.

[0041] Among them, the bottom of the foot shell 8 is divided into left and right regions according to the regions of the big toe and other toes. The actual divided regions are determined according to the detection range of the sensor, and the specific size of the regions does not need to be limited. When actually adjusting the pressure when each simulated toe 2 grips the ground, it is divided into regions according to the big toe and the other four toes, so as to judge whether the pressure decreases and the normal extension according to the gravity adjustment effect of the foot shell 8, thereby reducing the gripping force. When the gravity balance is basically achieved, the pressure of each toe is reduced to the normal extension of the toe, and the gripping is cancelled. By gripping the ground with five toes at the same time and placing the center of gravity of gravity on the big toe or the other four toes, the left-right balance of the foot is adjusted.

[0042] The above-mentioned motion sensing component is four gravity sensors and a level; the four above-mentioned gravity sensors are abutted against the bottom of the above-mentioned foot shell 8 and are respectively located in the front, rear, left and right regions of the above-mentioned simulated foot 1; the above-mentioned level is installed on the above-mentioned foot shell 8 and is located at the bottom of the above-mentioned foot shell 8.

[0043] The gravity sensors are installed at the bottom of the foot shell 8 to detect the force magnitude of each part during walking. The inclination angle is detected by the level to timely detect the situation where imbalance is likely to occur. Among them, each gravity sensor and the level can be embedded in the bottom of the foot shell 8, and the side in contact with the simulated foot 1 is basically horizontal with the bottom surface of the foot shell 8, so as to further improve the comfort and detection accuracy.

[0044] The above-mentioned foot shell 8 is provided with a first rotating shaft 6 and a second rotating shaft 7, and the above-mentioned first rotating shaft 6 and the above-mentioned second rotating shaft 7 are respectively rotatably connected to the above-mentioned foot shell 8; the above-mentioned toe mechanical component includes a first toe rod 4 and a second toe rod 5 that are hinged; the above-mentioned first toe rod 4 of one of the above-mentioned toe mechanical components corresponding to the big toe is installed on the above-mentioned first rotating shaft 6, and the above-mentioned first toe rods 4 of the other four above-mentioned toe mechanical components are sequentially installed on the above-mentioned second rotating shaft 7; the above-mentioned first rotating shaft 6 is connected with a first motor; the above-mentioned second rotating shaft 7 is connected with a second motor; the control ends of the above-mentioned first motor and the above-mentioned second motor are both connected to the above-mentioned toe gripping controller.

[0045] The first rotating shaft 6 and the second rotating shaft 7 can be rotatably mounted on the foot housing 8 through micro bearings. The toe gripping controller can rotate simultaneously through the first toe rod 4 and the second toe rod 5 corresponding to the big toe, so as to realize the gripping actions with different bending arcs of the toes, and further realize the increase or decrease of the pressure during gripping. When the first rotating shaft 6 or the second rotating shaft 7 rotates, it drives the first toe rod 4 to rotate upward, so that the second toe rod 5 moves, forming the gripping action of the simulated toe 2. On the contrary, when the first toe rod 4 rotates downward, it returns to the normal stretching action of the simulated toe 2. The first rotating shaft 6 and the second rotating shaft 7 can be at the same height and are arranged staggeredly in the front and back of the foot housing 8.

[0046] The above-mentioned foot housing 8 is also provided with a wireless communication module; the above-mentioned wireless communication module is used for the above-mentioned toe gripping controller to obtain the gravity values of the front, back, left and right regions of the simulated foot 1.

[0047] The wireless communication module can be installed inside the foot housing 8 and uses Bluetooth or wifi to achieve communication.

[0048] The above-mentioned foot housing 8 is also provided with a simulated leg 9 made of rigid material; one end of the above-mentioned simulated leg 9 away from the above-mentioned simulated foot 1 is detachably arranged on the user's leg.

[0049] The foot housing 8 is connected with a simulated leg 9, and the simulated leg 9 is detachably arranged on the user's leg, which is convenient for disabled people to wear on the amputated limb and is suitable for common prosthetic structures. For example, the detachable connection can be achieved through conventional prosthetic fixation methods: 1. Suspension fixation: mainly relies on the suspension belt or sling on the prosthetic limb, bypasses the waist or thigh of the amputee, and is connected to the prosthetic limb through specific connection methods (such as hooks, latches) to provide stable support for the prosthetic limb. 2. Suction fixation: forms a tight fit with the residual limb through the negative pressure system in the receiving cavity, creating a sealed environment similar to a vacuum, so as to achieve firm fixation. 3. Locking fixation: For prosthetic limbs with hinge joints, locking fixation can be adopted.

[0050] One end of the above-mentioned simulated leg 9 away from the above-mentioned simulated foot 1 is provided with a first splint 10, a second splint 11 and an elastic band 12; one ends of the above-mentioned first splint 10 and the above-mentioned second splint 11 are installed on the outer side of the above-mentioned simulated foot 1 and are arranged oppositely; one end of the above-mentioned elastic band 12 is fixed on the outer side of the above-mentioned simulated foot 1, and matching sticking surfaces are respectively arranged on both sides of the above-mentioned elastic band 12.

[0051] The overall structure of the simulation leg 9 adopts a conventional structure of the existing technology and is fixedly connected to the foot housing 8. Shock pads can be provided on the inner sides of the first splint 10 and the second splint 11, and the shock pads can be made of conventional shock-absorbing materials such as foam, cotton, rubber, etc. The first splint 10 and the second splint 11 can be made of rigid materials with elasticity, such as metal materials like steel, titanium alloy, copper, aluminum, etc.; polymer materials such as polycarbonate polymers, carbon nanomaterials, and biological materials such as polylactic acid polymers. By arranging two side plates opposite to each other at intervals, a gradually expanding inner cavity is formed, and the elastic band 12 is wound around and fixed to the two side plates through the bonding surface to further improve the stability of the simulation leg 9. The elastic band 12 is made of a common elastic fabric, and the bonding surface also applies the bonding method of common fabrics. For the convenience of bonding, the mutually bonding surfaces are respectively arranged on the outer side of the fixed end and the inner side of the movable end of the elastic band 12.

[0052] The above-mentioned toe gripping controller, according to the difference in gravity values between the front and rear regions or the left and right regions of the above-mentioned foot housing 8, or, through each of the above-mentioned toe mechanical components, adjusts the pressure when the corresponding above-mentioned simulation toe 2 grips the ground. The judgment basis is: when the difference in gravity values between the front and rear regions of the above-mentioned simulation foot 1 exceeds the preset front and rear gravity threshold, or the difference in gravity values between the left and right regions of the above-mentioned foot housing 8 exceeds the preset left and right gravity threshold range, adjust the pressure when each of the above-mentioned simulation toes 2 grips the ground.

[0053] Before the pressure when gripping the ground through the toe mechanical components, first judge whether there is a situation of front-rear imbalance or left-right imbalance, and the threshold value can be obtained according to the change of the pressure threshold value in the stable state, and no specific limitation is required here.

[0054] Each of the above-mentioned simulation toes 2 is provided with a simulation nail 3 on its surface; the above-mentioned simulation nail 3 is formed by stamping the above-mentioned simulation toe 2. Among them, the simulation nail 3 is formed by generating a nail groove and a nail body on the simulation toe 2.

[0055] In order to improve the user's comfort and life portability, the nail shape of the simulation toe 2 is restored when the simulation toe 2 is integrally formed.

[0056] In summary, the embodiment of the present application provides a bionic mechanical toe. Through the foot housing 8 and the five articulated simulation toes 2, the simulation foot 1 made of elastic material and integrally formed, and one or five simulation toes 2 are sleeved on the outside, which is convenient for wearing and improves the psychological comfort of patients; the toe gripping controller controls the corresponding simulation toes to grip the ground according to the front-back gravity difference and left-right gravity difference of the foot housing 8, and adjusts the pressure during gripping according to the difference, thereby improving the walking stability of the user. In particular, it solves the problem of easy falling due to difficult walking when going uphill, downhill and turning; the bionic mechanical toe of the present invention can coordinate with other toes, solves the problem of difficult walking and easy falling of disabled people due to poor balance ability when walking, and can realize toe gripping and pressure adjustment, thereby improving walking balance.

[0057] The specific embodiments described above further elaborate on the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bionic mechanical toe, characterized in that, Comprising: A foot housing; the foot housing is provided with: A bionic foot buffer sleeve sleeved outside the foot housing, including a simulated foot made of elastic material and integrally formed and five simulated toes; A sole motion sensing component for detecting the gravity values of the bottom of the simulated foot in the front, rear, left, and right regions, and the tilt angle of the bottom of the simulated foot; Five toe mechanical components respectively hinged to the foot housing for driving each of the simulated toes to perform a gripping action; A toe gripping controller for judging whether to control the five toe components to grip the ground through each of the toe mechanical components according to the tilt angle; and adjusting the pressure when the corresponding simulated toes grip the ground through each of the toe mechanical components according to the gravity value difference between the front and rear regions of the foot housing, or the gravity value difference between the left and right regions.

2. A bionic mechanical toe according to claim 1, characterized in that: When adjusting the pressure when the corresponding simulated toes grip the ground through each of the toe mechanical components according to the gravity value difference between the front and rear regions of the foot housing, it includes: the greater the difference between the gravity value of the front region and the gravity value of the rear region of the foot housing, the greater the pressure when the toe gripping controller controls each of the simulated toes to grip the ground; conversely, the smaller the pressure when the toe gripping controller controls each of the simulated toes to grip the ground.

3. A bionic mechanical toe according to claim 1, characterized in that: When adjusting the pressure when the corresponding simulated toes grip the ground through each of the toe mechanical components according to the gravity value difference between the left and right regions of the foot housing, it includes: when the gravity value of the corresponding region of the big toe is lower than the gravity values of other regions, controlling the pressure when each of the simulated toes grip the ground so that the pressure of the big toe is greater than the pressure of other toes; otherwise, controlling the pressure when each of the simulated toes grip the ground so that the pressure of the big toe is less than the pressure of other toes.

4. A bionic mechanical toe according to claim 1, characterized in that: The motion sensing component is four gravity sensors and a level; the four gravity sensors abut against the bottom of the foot housing and are respectively located in the front, rear, left, and right regions of the simulated foot; the level is installed on the foot housing and is located at the bottom of the foot housing.

5. A bionic mechanical toe according to claim 1, characterized in that: The foot housing is provided with a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are respectively rotatably connected to the foot housing; the toe mechanical component includes a first toe rod and a second toe rod hinged to each other; the first toe rod of one of the toe mechanical components corresponding to the big toe is installed on the first rotating shaft, and the first toe rods of the other four toe mechanical components are sequentially installed on the second rotating shaft; the first rotating shaft is connected with a first motor; the second rotating shaft is connected with a second motor; the control ends of the first motor and the second motor are both connected to the toe gripping controller.

6. A bionic mechanical toe according to claim 1, characterized in that: The foot housing is further provided with a wireless communication module; the wireless communication module is used for the toe gripping controller to obtain the gravity values of the front, rear, left, and right regions of the simulated foot.

7. A bionic mechanical toe according to claim 1, characterized in that: The foot housing is further provided with an imitation leg made of rigid material; one end of the imitation leg away from the imitation foot is detachably arranged on the user's leg.

8. The bionic mechanical toe according to claim 7, wherein: One end of the imitation leg away from the imitation foot is provided with a first splint, a second splint and an elastic band; one ends of the first splint and the second splint are installed on the outer side of the imitation foot and are oppositely arranged; one end of the elastic band is fixed on the outer side of the imitation foot, and adhesive surfaces that match each other are respectively arranged on both sides of the elastic band.

9. The bionic mechanical toe according to claim 1, wherein: The toe gripping controller adjusts the pressure when the corresponding imitation toes grip according to the difference in gravity values between the front and rear regions or the left and right regions of the foot housing. The judgment basis is: when the difference in gravity values between the front and rear regions of the imitation foot exceeds the preset front-back gravity threshold, or the difference in gravity values between the left and right regions of the foot housing exceeds the preset left-right gravity threshold range, adjust the pressure when each imitation toe grips.

10. The bionic mechanical toe according to claim 1, characterized in that: Imitation toenails are provided on the surfaces of each of the imitation toes; the imitation toenails are formed by stamping by the corresponding imitation toes.

Images