Bionic hoof simulation device and experience system based on biomechanical simulation

Abstract

The invention discloses a bionic hoof simulation device based on biomechanical simulation and an experience system, the device comprises a wearing part and a mechanical transmission mechanism, the wearing part extends along the longitudinal direction and defines a coating space, the mechanical transmission mechanism is fixedly arranged on the wearing part, and the mechanism enables a load transmission part to be arranged at the near end of a tail end joint of an experiencer through a rigid supporting piece; a main supporting assembly with a first friction characteristic is fixedly arranged at the far end of the device, and an auxiliary braking assembly with a second friction characteristic is fixedly arranged on the outer side of the wearing part. A space compensation gap is formed between the ground contact working surfaces of the main supporting assembly and the auxiliary braking assembly, so that the device is switched between a sliding state in which only the main supporting assembly abuts against the plane and a braking state in which the auxiliary braking assembly intervenes along with the change of the inclination angle of the wearing part. According to the invention, the load is conducted by bypassing the joint through the rigid support, the kinematic mechanics logic of the undules is simulated through cooperation of multiple assemblies, and the motion safety is ensured while the simulation cognitive experience is improved.

Description

Biomimetic hoof simulation device and experience system based on biomechanical simulation Technical Field

[0001] This invention belongs to the field of science education equipment technology, and in particular relates to a biomimetic hoof simulation device and experience system based on biomechanical simulation. Background Technology

[0002] In the field of nature education and science popularization for teenagers, a core challenge is enabling them to deeply understand the intricate logic of species evolution. Even-toed ungulates (such as takin and blue sheep) possess remarkable climbing and hazard-avoidance abilities thanks to their unique "major hooves + dewclaws" structure. This natural mechanical beauty and survival wisdom easily inspires teenagers' desire for exploration and knowledge. To align with the psychological characteristics of teenagers' "embodied learning," nature education urgently needs to transform abstract biomechanical knowledge into perceptible interactive experiences, enabling them to develop a profound understanding of species evolution and nature conservation through simulating the dynamic processes of animal climbing, gliding, and braking. Especially for takin living in rocky habitats, the intervention logic of their low dewclaws when changing slopes is key to their differentiation from forest-dwelling animals like the musk deer and their adaptation to extreme terrain. This complex mechanical transformation process is a valuable breakthrough point in embodied cognitive teaching.

[0003] However, existing nature education methods still have significant limitations in meeting the interactive needs of teenagers. First, most existing educational equipment consists of static specimens or flat digital demonstrations, lacking the ability for teenagers to perceive the mechanical transformation process through physical collaboration. This makes it difficult to replicate the non-linear mechanical feedback of even-toed ungulates gliding on steep slopes with their primary hoof sliding and their dewclaws "intervening braking on demand." Second, teenagers are in a critical period of skeletal development, and existing simulation devices often lack scientific stress dissipation mechanisms. When simulating the high-intensity braking of heavy even-toed ungulates like wildebeest, the enormous ground reaction force can easily directly compress their fragile wrist joints, posing a safety hazard. Furthermore, existing technologies are mostly simple mechanical imitations, lacking a systematic device that can deeply couple "bionic structures" with "interesting habitats" and quantify the inevitability of biological evolution through precise design parameters (such as stability coefficients). This makes it difficult for the teaching process to achieve deep educational objectives. Summary of the Invention

[0004] In view of the lack of an experiential teaching aid in the existing technology that allows teenagers to safely, quantitatively and intuitively experience the "cooperative braking of the main dewclaw" mechanism of even-toed ungulates, which leads to the problem of embodied cognitive gap and practical safety risks in the teaching of biomechanical knowledge in nature education, this invention provides a biomimetic hoof simulation device and experience system based on biomechanical simulation.

[0005] This invention is implemented as follows: a biomimetic hoof simulation device based on biomechanical simulation, characterized by comprising: a wearable part extending longitudinally and defining a receiving space for covering the limb of a user; a force transmission mechanism including a rigid support member fixed to the wearable part and extending distally thereto, and a load transmission part disposed within the receiving space and located proximal to the distal end of the user's distal joint; a main support assembly fixed to the distal end of the rigid support member and having a first frictional characteristic; and an auxiliary braking assembly fixed to the outer wall of the wearable part and located proximal to the main support assembly, having a second frictional characteristic; wherein a preset spatial compensation gap is provided between the ground contact surfaces of the main support assembly and the auxiliary braking assembly; when the wearable part is in a first angle range, only the main support assembly abuts against the plane; when the wearable part switches to a second angle range, the auxiliary braking assembly crosses the spatial compensation gap and abuts against the plane to generate a braking load.

[0006] In the above technical solution, preferably, the wearable part includes an outer flexible sheath layer and an energy-absorbing medium layer composited on the inner wall of the flexible sheath layer; the auxiliary braking component is fixed to the outside of the flexible sheath layer by a rigid base, and its projected position corresponds to the energy-absorbing medium layer.

[0007] In the above technical solution, preferably, the main support component includes two simulated toe blocks arranged side by side in the horizontal direction, and an elastic compensation element is provided between the two simulated toe blocks; under pressure, the two simulated toe blocks can generate a displacement that moves away from each other in the horizontal direction to increase the force-bearing area.

[0008] In the above technical solution, preferably, the auxiliary braking component consists of at least two asymmetrically distributed toe blocks, the ends of which are constructed as barbed structures that bend toward the proximal end of the wearable part.

[0009] In the above technical solution, preferably, the load transmission part is a grip handle disposed in the accommodating space; the rigid support spans the end joint of the user, so that the reaction force generated by the main support component bypasses the joint and is directly transmitted to the load transmission part via the rigid support.

[0010] In the above technical solution, preferably, it also includes an intelligent feedback module, which includes a pressure sensor located below the main support component and the auxiliary braking component, a motion tracker located on the wearable part, and a feedback unit for generating tactile or visual feedback signals.

[0011] In the above technical solution, preferably, the structural parameters of the device satisfy the following biomimetic braking stability calculation formula:

[0012]

[0013] in, The coefficient for biomimetic braking stability; The first coefficient of friction of the main support component; The second friction coefficient of the auxiliary braking assembly; This is the spatial compensation gap between the ground contact working surfaces of the main support assembly and the auxiliary braking assembly; The projected distance between the main support assembly and the auxiliary braking assembly along the axial direction of the wearable part; The critical trigger angle is when the wearable part switches from the first angle range to the second angle range.

[0014] In the above technical solution, preferably, the biomimetic braking stability coefficient The range of values ​​for is 1.2 ≤ ≤2.8.

[0015] This invention provides a biomimetic hoof simulation device and a motion experience system for even-toed ungulates, which, compared with existing technologies, has the following advantages: First, by setting a preset height difference between the main support component and the auxiliary braking component, and combining a differentiated design of the first and second friction coefficients, this invention successfully simulates the motion mechanics characteristics of even-toed ungulates at different slopes. This structure ensures that the device can use the low-friction main hoof for stable support or gliding when touching the ground at a small angle, while allowing the high-friction dewclaw to precisely intervene when tilted to a preset angle. This "on-demand intervention" braking mechanism not only highly replicates the biomechanical strategies of animals such as takins on steep slopes, but also, through the ingenious design of the physical structure, fills the gap in existing technologies for teaching aids that can accurately and concretely simulate the braking logic of even-toed ungulates, significantly improving the popularization efficiency and educational value of biomechanical knowledge.

[0016] Secondly, this invention offers significant advantages in terms of safety and force transmission. By incorporating a skeletal support assembly containing a grip handle within the wearable body, this device alters the force path of traditional wearable devices. During simulated high-intensity braking or support movements, the resulting ground reaction force can be directly transmitted to the user's arm through the grip handle, effectively bypassing the vulnerable wrist joint. This bypass design avoids the risk of sprains caused by the concentration of instantaneous impact force at the joint, providing a robust safety guarantee for teenagers participating in science popularization, research, and extreme sports simulations.

[0017] The second objective of this invention is to provide a movement experience system for even-toed ungulates, characterized in that it includes the aforementioned bionic hoof simulation device and a simulated terrain platform used in conjunction with the bionic hoof simulation device; the simulated terrain platform has a sliding surface that simulates rock texture.

[0018] In the above technical solution, preferably, the simulated terrain platform further includes a platform control system for adjusting the tilt angle of the sliding surface in real time and interacting with the intelligent feedback module of the bionic hoof simulation device.

[0019] This invention achieves a closed loop between subjective perception and objective data through a systematic and interconnected design. The accompanying even-toed ungulate movement experience system enriches the realism of the teaching scenario with simulated ramps featuring changeable textures. Combined with pressure sensors and motion trackers, the system can convert the participant's balance, strength, and braking skills on different terrains into quantifiable data, which can then be compared and analyzed with real biological data. This direct link between "embodied cognition" and rigorous scientific data greatly enhances the fun and persuasiveness of teaching, providing a new, safe, and highly interactive technological means for nature education that aligns with the psychological characteristics of adolescents. Attached Figure Description

[0020] Figure 1 is an external schematic diagram of the bionic hoof simulation device of the present invention; Figure 2 is an internal structural schematic diagram of the bionic hoof simulation device of the present invention; Figure 3 is a structural schematic diagram of the simulated terrain platform of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0022] This invention provides a biomimetic hoof simulation device and experience system based on biomechanical simulation. To further illustrate the structure of this invention, a detailed description is provided below with reference to the accompanying drawings: Example 1: This embodiment provides a biomimetic hoof simulation device based on biomechanical simulation. Its core design logic lies in recreating the movement strategies of even-toed ungulates (such as takins) in complex terrain through mechanical structures. As shown in Figures 1 and 2, the device first includes a wearable part 1 as the main structure. The wearable part 1 extends longitudinally and internally defines a space for covering the user's limbs (such as the forearm). To ensure wearing comfort and safety during high-intensity simulated braking, the wearable part 1 adopts a layered composite structure, including an outer flexible sheath layer 11 and an energy-absorbing medium layer 12 composited on the inner wall of the flexible sheath layer 11. The energy-absorbing medium layer 12 is preferably made of high-density polyethylene foam or silicone material, which can evenly distribute pressure to the forearm's force-bearing surface when the auxiliary braking component 4 generates instantaneous shear impact force, effectively preventing soft tissue contusions, thereby providing the user with a safe and realistic embodied cognitive premise.

[0023] In this embodiment, the flexible sheath layer 11 preferably adopts a multi-layer tear-resistant structure composed of high-strength nylon fibers (such as Cordura fabric) and three-dimensional breathable mesh fabric, which has excellent dynamic abrasion resistance and thermophysiological comfort to adapt to high-frequency simulated sliding and braking friction. In terms of structural details, the outer surface of the flexible sheath layer 11 is provided with a base anchoring area that is ultrasonically welded or reinforced by sewing, which is used to support the rigid base of the auxiliary braking component 4. The edge of this area is provided with radially distributed stress-dispersing reinforcing ribs, which are designed to dissipate the concentrated shear force generated during braking through the fabric texture in a gradient manner, preventing the sheath layer from experiencing local strain failure or wrinkling displacement. In addition, the flexible sheath layer 11 also integrates at least two sets of asymmetrically arranged fine-tuning fastening systems, such as Boa knob mechanisms or high-performance Velcro straps, allowing the user to adjust the radial pressure according to the anatomical shape of the forearm, ensuring that the wearing part 1 always maintains a zero-gap fit during dynamic movement, thereby ensuring the spatial consistency between the energy-absorbing medium layer 12 and the force-bearing point of the limb.

[0024] Based on the structure of the wearable part 1, this device integrates a complex force transmission mechanism 2, which is the key support for achieving the "joint bypass" protection function. The force transmission mechanism 2 includes a rigid support member 21 and a load transmission part 22 connected to it. The rigid support member 21 extends asymmetrically in spatial layout, closely adhering to the arm protection section of the wearable part 1 and extending across to the distal end (i.e., towards the fingertips of the user). The load transmission part 22 is specifically constructed as a grip handle set inside the receiving space, located at the proximal end of the user's distal joint (wrist joint). The rigid support member 21 spans the distal joint, so that the huge reaction force generated by the main support component 3 when in contact with the simulated ground is no longer rigidly transmitted through the user's wrist joint, but is directly bypassed through the rigid support member 21 to the load transmission part 22 located in the palm, constructing a complete force bypass path. This not only simulates the rigid force transmission characteristics of the leg bones of even-toed ungulates, but also solves the technical pain point of existing sports protective gear that cannot avoid wrist joint strain.

[0025] The rigid support member 21 is specifically constructed as a set of symmetrically arranged high-rigidity longitudinal ribs, the distal ends of which are vertically locked to the top bearing base of the main support component 3 by a pre-set array of high-strength screws, thereby constructing a stable mechanical skeleton extending upward from the ground contact point. The load transfer part 22 adopts an ergonomically designed lateral handle, horizontally spanning and mechanically fixed to the middle space between the two ribs, forming a "double-tower hoisting" stress model in structure, ensuring that the ground impact force and friction load on the main support component 3 can be converged to the center of the handle without damage through the ribs. Meanwhile, the symmetrically arranged ribs form a large-area mechanical coupling interface with the inner plane of the wearable part 1, so that when the longitudinal force is transmitted to the handle for hand perception, part of the load is effectively distributed to the ulna and radius regions of the user's forearm through the lateral stiffness of the ribs. This force transmission path of "grip feedback" and "limb lateral pressure" not only physically realizes the bypass transmission of load around the wrist joint, but also uses the ribs as a vibration medium to feed back the high-frequency mechanical waves generated by the interaction between the simulated hoof and the terrain to the entire forearm in real time, which significantly enhances the sense of presence of the biomechanical simulation.

[0026] In terms of assembly structure, a pair of symmetrically arranged rigid support members 21 are externally connected to the lateral stress zone of the flexible sheath layer 11 by multi-point distributed combined fasteners. The joint parts are pre-set with rigid anchoring plates embedded in the fabric interlayer of the flexible sheath layer 11 to prevent the fabric from tearing or local stress concentration caused by the screw locking pressure. The energy-absorbing medium layer 12 is arranged on the inner wall of the flexible sheath layer 11 in the form of a composite interlayer or inner lining, and it is physically located between the rigid support members 21 and the skin of the user's forearm, thereby playing a damping buffer role in the transition between rigidity and flexibility when the longitudinal ribs transmit and distribute the load to the forearm. In addition, the inner surface of the rigid support 21 adopts a contoured arc design that matches the outer contour of the wearable part 1. The ribs are wrapped and locked by the tightening webbing on the outer surface of the flexible sheath layer 11, so that the mechanical displacement of the rigid frame and the deformation of the flexible sheath layer are highly synchronized. This ensures that the complex load transmitted by the main support component 3 can be smoothly and accurately mapped to the user's tactile perception system through the gradient damping path of "ribs-shelter-energy-absorbing medium".

[0027] The end effector of the device consists of a main support assembly 3, which is fixed to the distal end of the rigid support member 21 and has a first frictional characteristic. To accurately reproduce the anatomical features of the hooves of even-toed ungulates, the main support assembly 3 is made of high-hardness engineering plastic (such as POM or Nylon 1010) to simulate hard horny hooves. Specifically, the main support assembly 3 includes two laterally arranged simulated toe blocks 31. In particular, these two simulated toe blocks 31 are not completely rigidly fixed, but rather have an elastic compensation member 32 (such as a high-tension spring or elastic rubber block) between them. When the user applies downward pressure for support or slides at high speed, due to the component of the reaction force, the two simulated toe blocks 31 can produce lateral displacement in opposite directions within the deformation range of the elastic compensation member 32. This dynamic process simulates the biological mechanism by which the hooves of even-toed ungulates increase the force-bearing area and disperse pressure by opening their hooves when bearing weight, allowing the user to feel subtle changes in mechanical feedback during gliding.

[0028] Regarding the "hoof opening" structure, this embodiment accurately replicates the biological characteristic of even-toed ungulates where the hoof suture splits open under load to increase the stress area and disperse pressure through a pressure-adaptive lateral sliding mechanism. The two simulated toe blocks 31 of the main support component 3 are not fixed by a rigid shaft, but are symmetrically arranged on the distal bottom surface of the rigid support member 21 via sliding guide pairs located on their inner sidewalls. Specifically, each simulated toe block 31 has a lateral slide rail on its top surface, forming a sliding pair with a groove on the rigid support member, allowing the two toe blocks to move in a straight line, either moving away from or towards each other, in a direction perpendicular to the longitudinal central axis of the device. An elastic compensation member 32 is embedded in the central gap between the two simulated toe blocks 31. In this embodiment, the elastic compensation member 32 is constructed as a high-tension V-shaped torsion spring or a compression spring with progressive stiffness characteristics. The two ends of the compensation member abut against the inner sidewalls of the two simulated toe blocks, and its preload is set sufficient to keep the toe blocks tightly closed under no-load conditions. To achieve the "opening under pressure" mechanical conversion, the inner contact surfaces of the two simulated toe blocks 31 are machined into outward-sloping guiding surfaces, or a preset tilt angle is provided on the slide rail. When the user applies a vertically downward pressure F, this pressure is decomposed into an outward component force through the inclined guiding surface. ,when When the initial elastic force of the elastic compensator 32 is overcome, the two toe blocks slide smoothly to both sides, simulating the dynamic process of hoof opening. To ensure the structural stability of the device and prevent excessive deformation, this mechanism further integrates a rigid limiting component. The limiting component includes a limiting block set at the end of the slide and a positioning pin inserted into the simulated toe block 31, which physically limits the maximum lateral displacement of a single toe block (preferably controlled between 5mm and 15mm). This limiting design ensures that even when adolescent users perform violent jumps or impact simulations, the simulated toe block 31 will not fall off the guide track, and also simulates the structural constraint of hoof ligaments on the opening amplitude in biology. This opening mechanism with "dynamic reset" and "limiting protection", combined with the aforementioned material hardness design, allows the user to feel the "micro-expansion" sensation of the hoof as pressure fluctuates when walking on the hard simulated terrain. This subtle mechanical feedback not only increases the interactive fun of the teaching aids, but also allows teenagers to intuitively understand how even-toed ungulates adapt to the microscopic unevenness of rock surfaces by changing the geometry of their hooves, thus thoroughly solidifying the biomimetic scientific foundation of this invention at the physical level.

[0029] Following the aforementioned mechanical transmission mechanism and main support component construction, the core innovation of this embodiment lies in the spatial coupling relationship between the auxiliary braking component 4 and the main support component 3 and the resulting dynamic braking logic. The auxiliary braking component 4 is fixed to the outer wall of the wearable part 1, and its axial position is located in the proximal direction of the main support component 3 (i.e., near the elbow). The auxiliary braking component 4 is made of a material with a second frictional characteristic; in this embodiment, synthetic butyl rubber with a Shore hardness between A45 and A60 is selected to ensure that its frictional resistance is significantly greater than that of the main support component 3 with a first frictional characteristic.

[0030] Geometrically, a crucial spatial compensation gap (i.e., a preset height difference) is provided between the ground contact surface of the auxiliary braking component 4 and the ground contact surface of the main support component 3. This gap is not arbitrary but is designed based on the proportional relationship between the swing radius of the human forearm and the anatomical position of the dewclaw in even-toed ungulates. This structural layout directly determines the unique contact interface switching logic of this device: when the wearable part 1 is in the first tilt angle range (e.g., the longitudinal central axis of the device is at an angle close to perpendicular to the simulated ground at 60° to 90°), constrained by the spatial compensation gap, only the main support component 3 at the far end can contact the plane. At this time, the user is in "cruising mode," experiencing the vibration feedback of low-resistance gliding on rocks or ice through the rigid main support component 3, while the high-friction auxiliary braking component 4 remains suspended.

[0031] When the simulated scenario enters a steep slope or requires an emergency stop, the participant lowers their elbow and raises their wrist, causing the tilt angle of the wearable part 1 to switch to a second angle range (e.g., a lying position with the angle reduced to 30° to 45°). At this moment, due to the lever rotation effect, the auxiliary braking component 4, which was originally in a higher position, crosses the spatial compensation gap and is forced to make contact with the simulated ground. Due to the high damping characteristics of its material, the frictional force between the interfaces increases instantaneously, thereby generating a powerful braking load. This mechanical transition triggered by a change in posture intuitively conveys to the participant the biomechanical principle of how even-toed ungulates use their dewclaws to anchor their center of gravity in treacherous terrain.

[0032] The switching logic of this device is deeply coupled with the gripping dynamics model of even-toed ungulates on extremely steep slopes (above 30°). The core of its parameter quantification lies in accurately establishing the "preset height difference". "Main-suspension center axial distance" "and "critical trigger angle" The geometric and topological relationships between them satisfy the constraint equations: .

[0033] In terms of specific parameter settings, to reproduce the braking behavior of takin on scree slopes or quicksand slopes, the critical trigger angle is... (The included angle between the longitudinal central axis of the device and the simulation plane) is set within a non-linear transition range of 35° to 50°, corresponding to a preset height difference. The thickness must be strictly controlled between 30mm and 50mm, and the first coefficient of friction of the main support component must be... (Hard POM material, approximately 0.15-0.25) and the second coefficient of friction with the auxiliary braking component. The ratio of (high-damping synthetic rubber, approximately 0.75-0.95) should be maintained above 1:3.5 to ensure a significant mechanical nonlinear abrupt change when the tactile feedback switches from "high-frequency support vibration" to "low-frequency high-resistance sensation." Furthermore, the boundary conditions of this logic further introduce the attitude angular velocity. As a dynamic compensation factor, when the inertial measurement unit detects that the backward tilting angular velocity exceeds the critical value of 2.5 rad / s, the system determines that emergency braking intervention is required. At this time, through the nonlinear compression of the elastic connector inside the main support component, the spatial compensation gap generates a dynamic pre-shrinkage of 10%-15% before physical contact with the ground. This provides a neural reflex redundancy period of about 0.15s for the compensation of the center of gravity imbalance of adolescent users in complex terrain, realizing a complete switching closed loop from static geometric constraints to dynamic biomechanical response.

[0034] This embodiment ensures a significant and stable gradient difference between the first and second frictional characteristics by precisely matching the microrheological properties and surface morphology of the main and auxiliary component materials. The simulated toe block 31 of the main support component 3 is preferably made of a highly crystalline engineering plastic with excellent self-lubricating properties, such as polyoxymethylene (POM) or modified polyamide (PA66), with its Shore D hardness set in the range of 75-85. This ensures a low coefficient of sliding friction between the interfaces when in contact with the hard rock texture of the simulated terrain platform 200. It remains stable between 0.15 and 0.22. This combination of high hardness and low friction not only reduces energy loss during simulated gliding, but more importantly, its high elastic modulus can transmit the mechanical waves generated by the surface texture to the mechanical support frame in the form of high-frequency vibrations without loss, providing the user with clear "road feel" feedback.

[0035] In stark contrast, the auxiliary braking component's toe block utilizes a highly damped elastomer material with significant hysteresis friction characteristics, such as butyl rubber modified with an active silane coupling agent or thermoplastic polyurethane elastomer (TPU), with its Shore A hardness controlled between 45 and 55. This material achieves "mechanical engagement" and "molecular adsorption" with the simulated terrain's microscopic uneven structure through the high flexibility of its molecular chains. Under dry and slightly wet conditions, its static friction coefficient can reach over 0.85, and its dynamic friction coefficient... It stabilized at 0.70-0.80.

[0036] To further enhance the damping feel during braking, the contact surface of the toe block is also processed with an asymmetric microprism array or biomimetic suction cup texture. This utilizes the viscoelastic deformation of the material to generate hysteresis loss, thereby efficiently converting kinetic energy into heat and internal energy. This material combination based on hardness gradient (Shore D vs Shore A) and friction mechanism (sliding friction vs hysteresis friction) not only has clear feasibility in terms of chemical and physical properties, but also fundamentally supports the significant tactile difference in the device's tactile feedback when switching tilt attitudes, instantly changing from a "crisp gliding" to a "heavy anchoring".

[0037] To further enhance the directionality and stability of this braking, the auxiliary braking component 4 in this embodiment consists of at least two asymmetrically distributed toe blocks. The ends of these toe blocks are not flat surfaces, but are constructed as hook-shaped or ramp-shaped structures that curve towards the proximal end (elbow direction) of the wearable part 1. When the toe blocks contact and slide relative to the textured simulated ground, this hook-shaped structure produces an anchoring effect similar to a "physical wedging." This design ensures that the braking force is primarily generated in the rearward resistance direction, avoiding sideslip and thus achieving a technical balance between safety and realism.

[0038] Furthermore, the auxiliary braking component 4 is fixed to the flexible sheath layer 11 via a rigid base, with its lower part directly facing the energy-absorbing medium layer 12 inside the wearable part 1. This hierarchical structure ensures that the enormous shear impact force generated during braking is first borne by the rigid base, then buffered by the energy-absorbing medium layer 12 before being applied to the limbs, making the braking sensation felt by the user "stable and controlled," rather than a sudden impact. This sophisticated mechanical layering design is the key manifestation of this device's inventiveness, distinguishing it from ordinary sports protective gear.

[0039] Based on the stability design of the aforementioned physical structure, this embodiment further integrates an intelligent feedback module, aiming to transform the biomechanical interaction at the physical level into quantifiable sensory data, thereby achieving a deep integration of "embodied cognition" and "scientific analysis." The intelligent feedback module first includes sensing units deployed at key stress-bearing locations. Specifically, high-precision pressure sensors (such as thin-film pressure gauges or piezoelectric sensors) are embedded and integrated below the simulated toe block 31 of the main support component 3 and below the suspended toe block of the auxiliary braking component 4. These pressure sensors can collect data on the vertical contact force and tangential friction force applied to the ground by the user under different motion states with a millisecond-level response speed.

[0040] Meanwhile, a motion tracker is fixed above the wearable unit 1, which integrates a six-axis inertial measurement unit (IMU), including a three-axis accelerometer and a three-axis gyroscope. This motion tracker is used to track the angle, posture, speed, and acceleration of the user's arm in real time. All raw electrical signals collected by the sensing unit are transmitted to a data processing unit located near the wearable unit 1 via wires hidden within the energy-absorbing medium layer 12. The data processing unit has a built-in biomechanical evaluation algorithm that can calculate the load distribution ratio of the "dominant hoof / suspensory hoof" in real time based on the collected pressure and posture angle signals.

[0041] The core of the intelligent feedback in this embodiment lies in its multi-dimensional feedback unit. When the data processing unit detects that the tilt angle has entered the second angle range and the pressure sensor detects a surge in pressure of the auxiliary braking component 4, the system determines that "effective braking has been triggered". At this time, the feedback unit will provide biomechanical data feedback to the user in multiple forms: firstly, in a tactile form, a micro linear motor embedded in the grip handle generates vibrations at a specific frequency to simulate the crushing sensation of a hoof embedded in the ground; secondly, in a visual form, a mechanical curve is displayed in real time through an external terminal (such as a smart tablet or head-mounted display) that communicates wirelessly with the device, converting the user's subjective resistance sensation into an objective frictional force in Newtons.

[0042] In this embodiment, specifically, the pressure sensor array preferably employs thin-film pressure-sensitive elements, symmetrically embedded within the rigid base plate of the main support component 3 and the high-damping material layer of the auxiliary braking component 4. It is connected to wires within the energy-absorbing medium layer 12 via a flexible circuit board (FPC), thereby achieving direct sampling of the normal impact force without affecting the ground contact friction characteristics. Simultaneously, the micro linear motor (LRA) is suspended and mounted in the center of the internal cavity of the grip in the load transmission part 22 via a compact shock-absorbing bracket. Its vibration axis is perpendicular to the long axis of the grip, allowing the instantaneous high-frequency acceleration generated by the motor to be uniformly transmitted to the user's palm and fingertips through the rigid shell of the grip. To prevent vibration signal attenuation, the motor is wrapped with a rigid resin sleeve less than 0.5 mm thick, press-fitted onto the inner rib of the grip using an interference fit, ensuring that the simulated crushing sensation of the hoof embedding into the ground is converted into a high-fidelity tactile feedback signal with a millisecond-level response speed.

[0043] The technological advantage of this intelligent feedback mechanism lies in its ability to overcome the limitations of traditional teaching aids, which can only "operate" but not "quantify." By precisely capturing the transition between the "first friction characteristic" and the "second friction characteristic" through pressure sensors, users can clearly observe how the braking force abruptly changes from a low-resistance, stable state to a high-damping braking state when the angle changes. This not only provides rigorous data support for biomechanics teaching but also allows users to continuously correct their posture through data feedback when simulating the avoidance actions of even-toed ungulates (such as takins), thereby gaining a deeper understanding of the survival wisdom animals have evolved in extreme environments.

[0044] Furthermore, the intelligent feedback module also features an early warning function. When the motion tracker detects excessive acceleration or a tilt angle that may cause the wearer to lose balance, the data processing unit will drive the feedback unit to emit an audible warning sound. This safety guarantee based on real-time data monitoring, combined with the physical protection of the wrist joint provided by the force transmission mechanism 2, constitutes a comprehensive safety simulation system from physical defense to information perception, further enhancing the reliability of this invention as a science and education system.

[0045] Regarding the force transmission path of this device that "bypasses the joint," this transmission path does not rely on the flexible wrapping of the wearable body, but rather constructs an external load-bearing pathway in space that is completely independent of the physiological support structure of the human wrist joint through the rigid support member 21. The starting point of this path is the contact point between the main support component 3 and the plane. When the ground generates a vertically upward support force and a horizontally backward frictional force, the load is directly introduced through the distal end of the rigid support member 21. The key "path avoidance" logic is that the rigid support member 21 is constructed as a bridging plate that spans the wrist joint. Its length is set to ensure that the load transmission part (i.e., the grip handle) is located at the proximal end of the wrist joint, and forms a zero-displacement rigid connection with the rigid support member 21 through integral molding or high-strength bolt groups.

[0046] From a mechanical vector analysis perspective, the ground reaction torque (moment of force) experienced by the main support component 3 is completely absorbed by the rigid support member 21 and transformed into pressure and bending moment along its axis. This force directly passes over the wrist joint, which is in a relaxed or semi-fixed state, and is ultimately transmitted to the thenar eminence muscles and forearm bones through the grip handle. During this process, the wrist joint not only does not need to bear the structural load required to maintain hoof stability, but also, due to the physical limiting effect of the rigid support member 21, its dorsiflexion and palmar flexion ranges are limited within physiological safety thresholds, eliminating shear stress concentration caused by instantaneous braking. Furthermore, by arranging an energy-absorbing medium layer 12 with specific impedance characteristics between the load transmission part 22 and the forearm contact surface, the system achieves the transformation of load from "point contact" to "area distribution," and its unit area pressure (P=F / S) is significantly lower than the human soft tissue injury threshold. This mechanical topological logic, which forcibly separates "motion perception" from "joint load-bearing" through physical architecture, not only provides extremely high safety, but also accurately simulates the evolutionary characteristics of even-toed ungulates using long bones of the limbs for linear stress transmission at the biomechanical level.

[0047] Example 2: Based on the aforementioned mechanical structure, this example further discloses how to achieve embodied feedback that conforms to the psychological and physiological characteristics of adolescents through precise parameter quantification. The core of this example lies in the biomimetic braking stability coefficient determined experimentally. The material properties and geometric topology of the device are optimized in a coordinated manner.

[0048] Specifically, the structural parameters of the device are not randomly arranged, but strictly satisfy the following biomimetic braking stability calculation formula: .

[0049] The physical meaning and synergistic mechanism of each parameter in this formula are as follows: The coefficient of friction represents the first friction coefficient when the main support component comes into contact with the simulated terrain. Its material selection focuses on simulating the low-friction sliding characteristics of the hard edge of an animal's hoof on rocks. The second friction coefficient, representing the auxiliary braking component, is selected based on materials that simulate the high-damping adhesion characteristics of the soft tissue of the suspension shoe under high pressure. The spatial compensation gap between the ground contact surfaces of the main support component and the auxiliary braking component determines the mechanical stroke of the braking intervention. The projected distance between the two components along the axial direction of the wearable part determines the lever arm length for torque transmission; and This defines the critical trigger angle when switching from coasting to braking. Through this formula, the present invention transforms the previously difficult-to-quantify "experience" into precisely designable engineering parameters.

[0050] In this embodiment, to ensure that the device can simultaneously achieve the inspirational nature of nature education and the safety of use by teenagers, the biomimetic braking stability coefficient is... The range of values ​​for is limited to 1.2 ≤ When the value ≤2.8 is in this range, the device is in The increase in frictional force generated at the instant of angular triggering (i.e. ) and torque amplification factor (from The decision has created a dynamic equilibrium. Specific test data shows that when When the value is set to 1.8, if the user moves at a small pitch angle, the low-friction characteristics of the main support component allow for smooth posture adjustments; however, if the user tilts the wearable part backward to the critical trigger angle due to simulated climbing or instability, the wearer will be able to maintain a stable posture. At that time, the auxiliary braking component quickly crossed the space compensation gap. Intervention. At this time, due to When the value is within the above-mentioned preferred range, the resulting braking load can be clearly fed back to the load transmission part through the mechanical transmission mechanism, and the user's muscles can perceive a significant change in resistance, thereby understanding the biological function of the cantilever, without causing the deceleration to exceed the adjustment ability of the adolescent's center of mass balance due to excessive braking force.

[0051] Furthermore, this embodiment verifies the necessity of this interval through extreme parameter experiments. If Values ​​less than 1.2, for example, by decreasing... and The range or excessive increase in projection distance When the device switches to the second angle range, the increase in friction is insufficient to produce a noticeable "grip," preventing teenagers from effectively distinguishing different motion phases through bodily perception and thus negating the embodied cognitive function of the educational tool. Conversely, if... A value greater than 2.8, for example, excessive reduction. Or increase the height difference This can lead to an excessively steep reaction torque during braking. Even if the device has a transmission path that avoids the wrist joint, the sudden and massive change in momentum may still cause unnecessary mechanical impact on the elbows or shoulders of teenagers. Therefore, [the following is a possible interpretation:] The value is locked at 1.2≤ A value between ≤2.8 is key to achieving a deep coupling between biomimetic mechanical simulation and the physiological tolerance limits of adolescents. Furthermore, in this embodiment... and These are not fixed values, but rather variables that are adapted to the sliding surface material of the simulated terrain platform. For example, when simulating a humid rocky habitat, the auxiliary braking component can be replaced with one that has a microporous structure. It can maintain high adhesion even under lubrication conditions, and compensates for gaps by synchronously adjusting the spatial gap. The physical thickness ensures The value still falls within 1.2≤ Within the safety protection and efficient sensing range of ≤2.8. This formula-based approach... The guided dynamic parameter configuration scheme enables this device to flexibly adapt to various teaching scenarios. While ensuring the certainty of the technical solution, it provides a high degree of practical expansion space, providing teenagers with a safe, scientific and highly interactive natural education experience.

[0052] Example 3 Based on the foregoing bionic hoof simulation device, a complete artiodactyl animal motion experience system was finally constructed in this example. Through the deep coupling of the external environment and the wearable device, this system achieved a simulation leap from "static structure" to "dynamic habitat". As shown in Figure 3, the system includes a simulated terrain platform 200 that is配套 with the bionic hoof simulation device 100. This platform is not a traditional fixed inclined plane, but is constructed as an intelligent terrain simulation device. The core of the simulated terrain platform 200 is a sliding surface 201 with simulated rock textures, which is made of high-strength composite materials, and its micro-roughness is precisely designed to ensure the expected mechanical response with the first friction characteristic of the main support component 3 and the second friction characteristic of the auxiliary braking component 4. To simulate the complexity of the real natural environment, the simulated terrain platform 200 integrates an environmental dynamic control module. This module can controllably adjust the inclination angle of the sliding surface 201 (continuously varying between 0° and 45°) through a dynamic adjustment motor connected to the bottom of the platform. Further, the sliding surface 201 is refined to be provided with a plurality of alternately distributed feature areas, and these feature areas include a support area with high hardness and low friction (simulating bare rock) and a subsidence area with low hardness and high friction (simulating loose soil or leaf layer). This heterogeneous terrain design forces the experiencer to adjust the inclination posture of the arm in real time according to the visual feedback of the terrain, so as to switch within different first and second angle intervals, and call the main support component 3 for sliding or use the auxiliary braking component for anchoring. In the system operation logic, the platform control system and the intelligent feedback module of the bionic device achieve a data closed-loop through a wireless communication protocol. When the experiencer's wearable device performs a simulated downhill movement on the sliding surface 201, the system will dynamically drive the sliding surface 201 to switch the physical texture according to the preset animal motion habitat (such as "takin crossing a scree slope"). For example, when the experiencer enters the simulation of the "subsidence area", the tracked panel structure inside the platform will switch out a panel with higher elasticity and damping. At this time, the elastic compensator 32 of the main support component 3 will generate an opening displacement due to compression. If the experiencer fails to increase the inclination angle in time to trigger the auxiliary braking component, the system will inform them of "hoof getting stuck in the mud" or "skidding" through visual feedback. This system realizes the real-time coupling of the device logic and the habitat logic. Through the restoration of the alternating terrain of rock and mud in the real habitat by the simulated terrain platform 200, the experiencer can personally experience that the "double-hoof opening (pressure dispersion)" and "suspensory hoof access (directional braking)" evolved by artiodactyl animals are an extremely precise terrain adaptive gait strategy. This comprehensive systematic simulation not only meets the interest of popular science display, but also provides a high-fidelity semi-physical simulation environment for biomechanics research.Thus, this invention has completely solved the technical problem of how to safely, accurately, and embodiedly simulate the unique locomotion mechanism of even-toed ungulates through the safe covering of the wearable part, the path-avoiding transmission of the mechanical transmission mechanism, the functional decoupling of the main and auxiliary components, and the dynamic interaction between the intelligent system and the terrain platform.

[0053] The algorithm logic of the intelligent feedback system of this device is based on a gait phase recognition model fused from multiple sensors, aiming to transform complex biomechanical interactions into real-time, multi-dimensional feedback. Its core control process is as follows: First, the system acquires the pitch angle and angular acceleration data of the wearable unit 1 through an integrated IMU (Inertial Measurement Unit) at a sampling frequency of no less than 200Hz, and then uses a six-axis Kalman filter algorithm for real-time attitude fusion, outputting a smooth dynamic tilt angle. Meanwhile, a pressure sensor array positioned below the main support assembly 3 and the auxiliary braking assembly monitors the normal contact force in real time. and The data processing unit has a built-in dual-threshold state machine, which determines when the threshold condition is met. Entering the second angle interval (i.e.) <45°) and "Auxiliary braking component pressure change rate" When the intersection of the two logical operators "exceeds the preset start threshold" is reached, the system determines that it has entered the "auxiliary braking phase".

[0054] At the feedback execution level, the algorithm introduces load-frequency mapping logic: the feedback unit drives a linear motor in the grip handle using pulse width modulation (PWM) technology based on the instantaneous load on the auxiliary braking component, generating "pseudo-random vibration" whose frequency is positively correlated with the load intensity, simulating the mechanical crushing sensation when the hoof grips a rock crevice. Simultaneously, the system synchronizes the calculated "braking efficiency percentage" and "joint torque distribution diagram" to an external terminal via Bluetooth or Wi-Fi, using a graphical algorithm to convert the invisible physical resistance into an intuitive dynamic energy bar.

[0055] Furthermore, to ensure the safety of teenage users, the algorithm also includes an instability warning closed loop. When the motion tracker detects that the center of mass acceleration vector deviates from the anatomical safety envelope, or detects an abnormal change in the load distribution of the main and auxiliary components (i.e., potential sideslip), the algorithm will interrupt the current feedback with the highest priority and drive the warning unit to emit a high-frequency audible and visual signal. This four-in-one algorithm architecture based on "posture perception - logical judgment - precise feedback - safety closed loop" ensures that the simulation device is not only a physical shell, but also a closed-loop teaching system with "neural perception" capabilities, thus technically solidifying the interactive depth and educational scientific nature of the teaching aid.

[0056] Example 4 This example further discloses a dynamic compensation closed-loop system integrated into a bionic hoof simulation device, aiming to further optimize the stability coefficient described in Example 2 through software and hardware collaboration. Performance in complex dynamic environments. The hardware foundation of this embodiment is built on an intelligent feedback module, which integrates a high-precision six-axis inertial measurement unit (IMU) and a microprocessor at the geometric center of the wearable device.

[0057] During dynamic motion, the microprocessor calculates the attitude angular velocity of the wearable device in real time at a sampling frequency of 250Hz. and instantaneous pitch angle When the user quickly switches from walking to braking, the algorithm logic does not rely solely on physical contact with the ground, but introduces a predictive compensation factor. The compensation factor With angular velocity Positive correlation, its function is to dynamically adjust the intervention timing of the linear actuator in the intelligent feedback module. Specifically, when the angular velocity of backward tilt is detected... When the speed exceeds 1.5 rad / s, the system determines that the user has a strong braking intention. At this time, the feedback unit will send a "pre-contact" signal to the load transmission part through high-frequency micro-vibration within 50ms-150ms before the auxiliary braking component physically touches the ground.

[0058] Furthermore, this embodiment details how the algorithm affects the stability coefficient. Real-time mapping is performed. Under different simulated terrains (such as quicksand or slippery ice), the microprocessor automatically retrieves the corresponding friction reference value from the built-in material library based on the initial contact force slope fed back by the pressure sensor, and calculates the real-time friction parameters under the current environment. If the calculated result approaches the boundary of the range (e.g., close to 2.8), the system will automatically activate the limit protection logic. This will artificially increase the elastic resistance of the main support component by changing the impedance of the electromagnetic damper in the intelligent feedback module, thereby smoothing the physical transition caused by… The impact of excessively high values. This closed-loop mechanism of "perception-prediction-physical compensation" enables this device to simulate the complex neural reflex processes of even-toed ungulates in extreme environments. It not only demonstrates the depth of this invention's integration of electronic information technology and biomechanics, but also fundamentally solves the problem of poor environmental adaptability caused by fixed mechanical structures. By adjusting the stability coefficient of the physical structure... By deeply integrating with dynamic control algorithms, this embodiment provides teenagers with a highly realistic experimental platform that has "biological instinct" response characteristics.

[0059] The embodiments described above are merely preferred embodiments of the present invention. For those skilled in the art, several improvements and modifications can be made without departing from the principles described in the claims of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A biomimetic hoof simulation device based on biomechanical simulation, characterized in that, include: Wearable part (1), which extends longitudinally and defines a receiving space for covering the limbs of the user; The mechanical transmission mechanism (2) includes a rigid support member (21) fixed to the wearable part (1) and extending to its distal end, and a load transmission part (22) disposed within the accommodating space and located proximal to the end joint of the user; a main support assembly (3) fixed to the distal end of the rigid support member (21) and having a first frictional characteristic; and an auxiliary braking assembly (4) fixed to the outer wall of the wearable part (1) and located proximal to the main support assembly (3) and having a second frictional characteristic; wherein a preset spatial compensation gap is provided between the ground contact working surfaces of the main support assembly (3) and the auxiliary braking assembly (4); when the wearable part (1) is in the first angle range, only the main support assembly (3) abuts against the plane; when the wearable part (1) switches to the second angle range, the auxiliary braking assembly (4) crosses the spatial compensation gap and abuts against the plane to generate a braking load.

2. The biomimetic hoof simulation device based on biomechanical simulation according to claim 1, characterized in that, The wearable part (1) includes an outer flexible sheath layer (11) and an energy-absorbing medium layer (12) composited on the inner wall of the flexible sheath layer (11); the auxiliary braking component (4) is fixed to the outside of the flexible sheath layer (11) by a rigid base, and its projection position corresponds to the energy-absorbing medium layer (12).

3. The biomimetic hoof simulation device based on biomechanical simulation according to claim 1, characterized in that, The main support component (3) includes two simulated toe blocks (31) arranged side by side in the horizontal direction, and an elastic compensation member (32) is provided between the two simulated toe blocks (31); under pressure, the two simulated toe blocks (31) can generate displacements that are opposite to each other in the horizontal direction to increase the force-bearing area.

4. The biomimetic hoof simulation device based on biomechanical simulation according to claim 1, characterized in that, The auxiliary braking assembly (4) consists of at least two asymmetrically distributed toe blocks, the ends of which are constructed as barbed structures that bend toward the proximal end of the wear part (1).

5. The biomimetic hoof simulation device based on biomechanical simulation according to claim 1, characterized in that, The load transfer part (22) is a grip handle disposed in the receiving space; the rigid support (21) spans the end joint of the user, so that the reaction force generated by the main support component (3) bypasses the joint and is directly transmitted to the load transfer part (22) via the rigid support (21).

6. The biomimetic hoof simulation device based on biomechanical simulation according to claim 1, characterized in that, It also includes an intelligent feedback module, which includes a pressure sensor located below the main support assembly (3) and the auxiliary braking assembly (4), a motion tracker located on the wearable part (1), and a feedback unit for generating tactile or visual feedback signals.

7. The biomimetic hoof simulation device based on biomechanical simulation according to claim 1, characterized in that, The structural parameters of the device satisfy the following biomimetic braking stability calculation formula: in, The coefficient for biomimetic braking stability; The first coefficient of friction of the main support component; The second friction coefficient of the auxiliary braking assembly; This is the spatial compensation gap between the ground contact working surfaces of the main support assembly and the auxiliary braking assembly; The projected distance between the main support assembly and the auxiliary braking assembly along the axial direction of the wearable part; The critical trigger angle is when the wearable part switches from the first angle range to the second angle range.

8. The biomimetic hoof simulation device based on biomechanical simulation according to claim 7, characterized in that, The biomimetic braking stability coefficient The range of values ​​for is 1.2 ≤ ≤2.8。 9. A movement experience system for even-toed ungulates, characterized in that, The invention includes a bionic hoof simulation device (100) as described in any one of claims 1 to 8, and a simulated terrain platform (200) used in conjunction with the bionic hoof simulation device (100); the simulated terrain platform (200) has a sliding surface (201) that simulates rock texture.

10. A movement experience system for even-toed ungulates according to claim 9, characterized in that, The simulated terrain platform (200) also includes a platform control system for adjusting the tilt angle of the sliding surface (201) in real time and interacting with the intelligent feedback module of the bionic hoof simulation device (100).

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