Foot pressure binding mechanism and exoskeleton robot

Abstract

The utility model relates to the technical field of exoskeleton robots, in particular to a foot pressure binding mechanism and an exoskeleton robot. The utility model provides a foot pressure binding mechanism which comprises a shoe base body, a metal cover and a plurality of sensor module assemblies. The shoe base body comprises a shoe front part, a shoe middle part and a heel part which are connected with one another, and the metal cover at least covers and wraps the shoe middle part; each sensor module assembly comprises a bearing seat and at least one sensor module; a plurality of mounting grooves in one-to-one correspondence with the bearing seats are sequentially formed in the upper surface of the shoe middle part from the shoe front part to the shoe heel part, and the sensor modules are mounted on the bearing seats. The resistance bridge strain gauge sensor is used for measuring the plantar pressure, the resistance bridge strain gauge sensor is usually used for measuring small changes, the measuring precision is higher, the problem that the measuring precision error is large due to the environment temperature change is solved, and therefore the plantar pressure can be accurately measured.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton robot technology, specifically to a foot pressure binding mechanism and an exoskeleton robot. Background Technology

[0002] The foot pressure restraint mechanism is the only point of contact between the wearable exoskeleton robot and the ground. By detecting the plantar pressure, it provides data to the control system to determine the robot's motion state. Based on this motion state, the system predicts the wearer's next action, thereby providing assistance. Therefore, accurate and timely measurement of plantar pressure is fundamental to control. Currently, there is an urgent need for a foot pressure restraint mechanism that can accurately and timely measure plantar pressure. Utility Model Content

[0003] (I) The problem to be solved by this utility model is: there is an urgent need for a foot pressure binding mechanism that can accurately and timely measure the pressure on the sole of the foot.

[0004] (II) Technical Solution

[0005] A foot pressure binding mechanism includes a shoe base, a metal cover, and multiple sensor module assemblies; the shoe base includes a connected forefoot, midfoot, and heel portion, and the metal cover at least covers and encloses the midfoot portion;

[0006] Each of the sensor module components includes a carrier and at least one sensor module; from the fore part of the shoe to the heel part, a plurality of mounting slots corresponding one-to-one with the carrier are sequentially provided on the upper surface of the middle part of the shoe, and the sensor module is mounted on the carrier;

[0007] The sensor module includes a mounting base, a fixing plate, and a resistance bridge strain gauge sensor; the mounting base is fixedly mounted on the support base, the mounting base has a mounting hole extending in the vertical direction, the fixing plate is disposed in the mounting hole, and the fixing plate is connected to the metal cover;

[0008] One end of the resistance bridge strain gauge sensor is connected to the mounting base, and the other end extends into the mounting hole and is connected to the fixing plate. The resistance bridge strain gauge sensor is higher than the fixing plate and the mounting base.

[0009] According to one embodiment of the present invention, the resistance bridge strain gauge sensor includes an elastic body and a resistance strain gauge. One end of the elastic body is connected to the fixed plate, and the other end is connected to the mounting base. The resistance strain gauge is attached to the surface of the elastic body. The top of the metal cover has rectangular holes corresponding to the resistance bridge strain gauge sensors.

[0010] According to one embodiment of the present invention, the sensor module assembly includes a support base and two sensor modules, the two sensor modules being mounted on the support base along the width direction of the shoe base.

[0011] According to one embodiment of the present invention, a control board is provided inside the middle part of the shoe, and the resistance bridge strain gauge sensor is signal connected to the control board.

[0012] According to one embodiment of the present invention, the mounting base is in the shape of a U-shaped frame, the fixing plate is in the shape of a U-shape, and first bolt holes are respectively opened at both ends of the fixing plate. Second bolt holes corresponding to the first bolt holes are opened on the metal cover. The first bolt holes of the fixing plate and the second bolt holes of the metal cover are connected by locking bolts. The top of the bearing seat is provided with a plurality of grooves corresponding to the first bolt holes, and the grooves are located directly below the corresponding first bolt holes.

[0013] According to one embodiment of the present invention, the support base is in the shape of a long strip plate. A through hole is opened at each of the four corners of the mounting base. A vertically arranged threaded sleeve is installed at each of the four corners of the support base. Two support plates are installed in the middle of the support base. The support plates are located between the two threaded sleeves arranged along the length direction of the support base. Each support plate has two screw holes. The two screw holes are arranged along the length direction of the support base. The upper surface of the threaded sleeve is flush with the upper surface of the support plate.

[0014] According to one embodiment of the present invention, at least one of the mounting grooves is located near the front of the shoe, and at least one of the mounting grooves is located near the heel.

[0015] According to one embodiment of the present invention, the shoe includes a forefoot strap, a heel strap, and a heel plastic component; the forefoot strap, the heel strap, and the heel plastic component are sequentially installed on the middle part of the shoe from the front to the heel.

[0016] According to one embodiment of the present invention, a foot connecting rod is installed on the side of the middle part of the shoe, and the foot connecting rod is used to connect to the lower leg rod of the exoskeleton robot.

[0017] An exoskeleton robot, including the aforementioned foot pressure restraint mechanism.

[0018] The beneficial effects of this utility model are:

[0019] This foot pressure binding mechanism: First, it uses a resistance bridge strain gauge sensor to measure plantar pressure. Resistance bridge strain gauge sensors are typically used to measure minute changes, and they have higher measurement accuracy. Moreover, they do not suffer from large measurement accuracy errors due to changes in ambient temperature, thus enabling accurate measurement of plantar pressure.

[0020] Secondly, since the resistance bridge strain gauge sensor is installed in the mounting base, the mounting base can protect the resistance bridge strain gauge sensor from damage such as impact, thus improving its reliability.

[0021] Third, because the sensor module is very easy to install and remove, it can solve the problem of difficult disassembly when the sensor is damaged, and replacement is simple and convenient.

[0022] Fourth, the foot pressure binding mechanism can adapt to various geographical environments, and the tightness of the front and back foot straps is adjustable, thus adapting to different people and improving versatility. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 A perspective view provided for Embodiment 1 of this utility model;

[0025] Figure 2 A bottom view provided for Embodiment 1 of this utility model;

[0026] Figure 3 A side view provided for Embodiment 1 of this utility model;

[0027] Figure 4 This is a structural diagram of the shoe base and metal cap provided in Embodiment 1 of this utility model;

[0028] Figure 5 This is a structural diagram of the support base and sensor module provided in Embodiment 1 of this utility model;

[0029] Figure 6 This is a structural diagram of the sensor module being removed from the support base, as provided in Embodiment 1 of this utility model.

[0030] Icons: 1. Shoe base; 101. Shoe forefoot; 102. Shoe midfoot; 103. Heel; 104. First locking base; 105. Second locking base; 106. First anti-slip protrusion; 107. Second anti-slip protrusion; 2. Metal cover; 201. Edge plate; 202. Round hole; 203. Strip hole; 204. Rectangular hole; 205. Second bolt hole; 3. Forefoot strap; 4. Heel strap; 5. Heel plastic part; 6. Foot connecting rod; 7. Fixing bolt; 8. Sensor module; 9. Bearing seat; 901. Bearing plate; 902. Threaded hole; 903. Groove; 904. Threaded sleeve; 10. Mounting base; 11. Fixing plate; 12. Locking bolt; 13. Resistance bridge strain gauge sensor; 14. Rectangular groove; 15. Rubber pad. Detailed Implementation

[0031] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0032] like Figures 1-6 As shown, Embodiment 1 of this utility model provides a foot pressure binding mechanism, including a shoe base 1, a metal cover 2, and multiple sensor module components; the shoe base 1 includes a front part 101, a middle part 102, and a heel part 103 connected to each other, and the metal cover 2 at least covers and wraps around the middle part 102;

[0033] Each sensor module assembly includes a carrier 9 and at least one sensor module 8; from the forefoot 101 to the heel 103, a plurality of mounting slots corresponding one-to-one with the carrier 9 are sequentially provided on the upper surface of the midfoot 102, and the sensor module 8 is mounted on the carrier 9.

[0034] The sensor module 8 includes a mounting base 10, a fixing plate 11, and a resistance bridge strain gauge sensor 13. The mounting base 10 is fixedly mounted on the support base 9. The mounting base 10 has a mounting hole extending in the vertical direction. The fixing plate 11 is disposed in the mounting hole and is connected to the metal cover 2.

[0035] One end of the resistance bridge strain gauge sensor 13 is connected to the mounting base 10, and the other end extends into the mounting hole and is connected to the fixing plate 11. The resistance bridge strain gauge sensor 13 is higher than the fixing plate 11 and the mounting base 10.

[0036] In this embodiment, a resistance bridge strain gauge sensor 13 is used to measure plantar pressure. The resistance bridge strain gauge sensor 13 is typically used to measure minute changes, offering higher measurement accuracy and avoiding the problem of large measurement accuracy errors caused by changes in ambient temperature, thus enabling precise measurement of plantar pressure. Furthermore, since the resistance bridge strain gauge sensor 13 is mounted within the mounting base 10, the mounting base 10 protects the resistance bridge strain gauge sensor 13 from impacts and other damage, improving reliability.

[0037] It should be noted that traditional foot pressure restraint mechanisms use thin-film pressure sensors to measure plantar pressure. However, thin-film materials are quite sensitive to temperature changes, and even small temperature fluctuations can affect the sensor's measurement accuracy. Thin-film pressure sensors operate based on the piezoelectric effect of the material. When external force is applied to the thin film, it changes the internal charge distribution, leading to the generation and output of charge. The thin-film pressure sensor converts stress into charge, thereby outputting an electrical signal. However, the thin-film material of thin-film pressure sensors is quite sensitive to temperature changes, and even small temperature fluctuations can affect the sensor's measurement accuracy.

[0038] In this application, a resistance bridge strain gauge sensor 13 is used to replace the traditional thin-film pressure sensor. The elastic body in the resistance bridge strain gauge sensor 13 undergoes elastic deformation under external force. This deformation causes the resistance strain gauge adhered to its surface to also deform, thereby changing the resistance value of the strain gauge. The change in resistance value of the strain gauge is converted into a change in voltage or current through a circuit configuration such as a Wheatstone bridge. The magnitude of this electrical signal is proportional to the applied external force (such as weight).

[0039] Furthermore, the thin film material of thin-film pressure sensors is relatively thin, making them susceptible to mechanical damage, which may affect the long-term stability and durability of the sensor. In contrast, the resistance bridge strain gauge sensor 13 in this application is thicker than the thin film material, making it less susceptible to mechanical damage. Therefore, the service life of the resistance bridge strain gauge sensor 13 is longer than that of the thin-film pressure sensor.

[0040] Preferably, the resistance bridge strain gauge sensor 13 includes an elastic body and a resistance strain gauge. One end of the elastic body is connected to the fixing plate 11, and the other end is connected to the mounting base 10. The resistance strain gauge is attached to the surface of the elastic body. The top of the metal cover 2 has a rectangular hole 204 corresponding to the resistance bridge strain gauge sensor 13.

[0041] As a specific embodiment, such as Figure 2 As shown, the mounting groove is elongated and extends along the width direction of the shoe's midsection 102; that is, the length direction of the mounting groove is the same as the width direction of the shoe's midsection 102. Each mounting groove contains a support seat 9, which is fitted into the mounting groove precisely.

[0042] Two sensor modules 8 are installed on each support 9, and the two sensor modules 8 are arranged along the length of the support 9.

[0043] Given that the thin-film pressure sensors in the feet of existing exoskeleton robots are basically encased and fixed inside the exoskeleton robot's feet, they cannot be easily replaced, leading to troublesome maintenance later on.

[0044] Therefore, in this embodiment, as Figure 6 As shown, the mounting base 10 is a U-shaped frame, with a through hole at each of its four corners. A vertically arranged threaded sleeve 904 is installed at each of the four corners of the elongated support 9, and the threaded sleeve 904 is compatible with the fixing bolt 7. Furthermore, as... Figure 6 Two support plates 901 are installed in the middle of the support base 9. One support plate 901 is located between two threaded sleeves 904 arranged along the length of the support base 9 at the front of the support base 9. The other support plate 901 is located between two threaded sleeves 904 arranged along the length of the support base 9 at the rear of the support base 9. Two threaded holes 902 are opened on the left and right sides of each support plate 901, and the threaded holes 902 on the support plate 901 are also adapted to the fixing bolts 7.

[0045] Specifically, such as Figure 6 The two threaded sleeves 904 located on the left side of the bearing seat 9 and the threaded holes 902 located on the left side of the two bearing plates 901 are respectively connected to the through holes at the four corners of a mounting base 10 by fixing bolts 7. The two threaded sleeves 904 located on the right side of the bearing seat 9 and the threaded holes 902 located on the right side of the two bearing plates 901 are respectively connected to the through holes at the four corners of another mounting base 10 by fixing bolts 7.

[0046] When replacing the sensor module 8 later, simply remove the four fixing bolts 7 at the four corners of the mounting base 10 to detach the mounting base 10. Then, the new mounting base 10 with the resistance bridge strain gauge sensor 13 can be reattached to the support base 9 using the four fixing bolts 7.

[0047] It should be noted that the upper surface of the threaded sleeve 904 is flush with the upper surface of the bearing plate 901 to ensure that the mounting base 10 is in a horizontal state when placed on the bearing seat 9, and not tilted, so as to avoid the resistance bridge strain gauge sensor 13 being tilted, which would cause measurement accuracy problems.

[0048] For example, such as Figure 1 and Figure 4As shown, multiple round holes 202 and multiple strip holes 203 are provided on the upper surface of the metal cover 2. These round holes 202 and strip holes 203 are used to accommodate the head of the fixing bolt 7. It should be noted that after the fixing bolt 7 is tightened, the upper end face of the fixing bolt 7 is lower than the upper surface of the metal cover 2 to prevent the fixing bolt 7 from pressing against the foot.

[0049] In this embodiment, as Figure 6 As shown, the fixing plate 11 is U-shaped. One end of the elastic body in the resistance bridge strain gauge sensor 13 is connected to the fixing plate 11, and the other end is connected to the mounting base 10. The fixing plate 11 has first bolt holes at both ends that are compatible with the locking bolts 12. Figure 4 As shown, the metal cover 2 has second bolt holes 205 that correspond one-to-one with the first bolt holes. The fixing plate 11 is fixed by the locking bolt 12, thereby supporting the end of the elastic body close to the fixing plate 11. In this way, the elastic body can fit as close as possible to the lower surface of the metal cover 2, thereby improving the measurement accuracy.

[0050] It should be noted that one end of the elastic sheet in the resistance bridge strain gauge sensor 13 is attached to the upper surface of the mounting base 10 with a strong adhesive, and the end of the elastic sheet near the fixing plate 11 is attached or welded to the fixing plate 11 with a strong adhesive.

[0051] The purpose of the mounting plate 11 is to fix the resistance bridge strain gauge sensor 13 and improve its stability. The resistance bridge strain gauge sensor 13 is placed inside the mounting base 10 to better protect it from impacts and other damages, thereby improving its reliability.

[0052] Optionally, a plurality of grooves 903 corresponding to the first bolt holes are provided on the top of the bearing seat 9. The grooves 903 are located directly below the corresponding first bolt holes. The grooves 903 are provided to give the locking bolts 12 sufficient space to descend.

[0053] For example, such as Figure 1 and Figure 4 As shown, a rectangular hole 204 corresponding to the resistance bridge strain gauge sensor 13 is provided on the top of the metal cover 2. The elastic body is located in the rectangular hole 204, and the upper surface of the elastic body is slightly higher than the upper surface of the metal cover 2, or the upper surface of the elastic body is flush with the upper surface of the metal cover 2.

[0054] As a specific embodiment, such as Figure 4As shown, two elongated mounting slots are formed on the side of the midfoot 102 near the forefoot 101 and the side near the heel 103, for a total of two mounting slots. Each mounting slot contains a support seat 9, and each support seat 9 is equipped with two sensor modules 8. The two sensor modules 8 on each support seat 9 are arranged along the width direction of the shoe base 1. That is, a total of four sensor modules 8 are used. Using four sensor modules 8 to measure plantar pressure results in more accurate measurement data.

[0055] Optional, such as Figure 4 As shown, a mesh structure formed by multiple rectangular slots 14 is provided at the top of the midfoot 102 of the shoe, and this mesh structure is located between two mounting slots. This embodiment adopts a lightweight design, which can significantly reduce the overall weight of the shoe base 1, thereby providing a more comfortable wearing experience. Moreover, the hollow mesh structure can effectively disperse the impact of the ground and reduce the burden on the foot.

[0056] Optional, such as Figure 4 As shown, multiple coaxially arranged arc-shaped grooves are provided on the upper surface of the heel portion 103, thereby forming a hollow structure on the upper surface of the heel portion 103. This hollow structure can reduce the overall weight of the shoe base 1 and effectively disperse the impact from the ground.

[0057] It should be noted that the resistance bridge strain gauge sensor 13 mainly includes an elastic body, resistance strain gauges, a strain bridge, an amplifier circuit, and external leads. The elastic body is one of the core components of the sensor; it withstands the pressure from the foot being measured and converts this force into strain. The resistance strain gauge is a key element of the sensor; it is attached to the elastic body. When the elastic body is subjected to external force, the resistance value of the resistance strain gauge changes, and this change is converted into an electrical signal output by the measurement circuit. The strain bridge is used to convert the resistance change of the resistance strain gauge into an electrical signal output. Typically, the strain bridge consists of four resistance strain gauges, forming a Wheatstone bridge. Strain information is obtained by measuring the unbalanced output voltage of the bridge. The amplifier circuit amplifies the weak electrical signal output from the strain bridge for subsequent processing and display. The design and performance of the amplifier circuit have a significant impact on the sensitivity and stability of the sensor. The external leads are used to connect the resistance strain gauges and the amplifier circuit to transmit the electrical signal.

[0058] For example, in this embodiment, a control board is installed on the middle part 102 of the shoe. The control board is an STM32. Four resistance bridge strain gauge sensors 13 are connected to the external STM32 control board through wires. The STM32 control board reads the data measured by the resistance bridge strain gauge sensors 13 and processes it.

[0059] For example, the control board can be mounted at the ankle joint of the exoskeleton robot or on the midfoot 102 of the shoe. It is preferred to mount it at the ankle joint of the exoskeleton robot so that sensors at the ankle joint can also be monitored.

[0060] It should be noted that a power module is usually installed in the chest of an exoskeleton robot. The resistance bridge strain gauge sensor 13 in this foot pressure binding mechanism, the control board, and the power modules on the exoskeleton robot are all powered by the power module.

[0061] Preferred, such as Figure 1 and Figure 4 As shown, the metal cover 2 includes an edge plate 201 at its edge. The edge plate 201 covers the entire mid-shoe 102, and the left side of the metal cover 2 has a semi-circular arc plate that rests on the upper surface of the heel 103. The edge plate 201 fits into the edge of the mid-shoe 102 and the hollow structure on the heel 103.

[0062] Optional, such as Figure 4 As shown, multiple strip-shaped holes 203 are sequentially formed along the length of the metal cover 2, and each strip-shaped hole 203 can accommodate two fixing bolts 7.

[0063] In this embodiment, as Figure 1 and Figure 3 As shown, along the direction from the forefoot 101 to the heel 103, a forefoot strap 3, a heel strap 4, and a heel plastic component 5 are sequentially installed on the midfoot 102. The forefoot strap 3, heel strap 4, and heel plastic component 5 are connected to the midfoot 102 by bolts. Since the tightness of the straps is adjustable, they can be adapted to different people, improving versatility.

[0064] Furthermore, such as Figure 4 As shown, a pair of first locking bases 104 and a pair of second locking bases 105 are installed on the midfoot 102 of the shoe. The first locking bases 104 are located near the forefoot 101, and the second locking bases 105 are located near the heel 103. The two first locking bases 104 are respectively installed on both sides of the midfoot 102, and the two second locking bases 105 are also installed on both sides of the midfoot 102. The forefoot strap 3 is fixed between the two first locking bases 104 by bolts, and the heel strap 4 is fixed between the two second locking bases 105 by bolts.

[0065] Optional, such as Figure 2As shown, multiple rectangular first anti-slip protrusions 106 are provided on the outer edge of the lower surface of the shoe front 101, and multiple hexagonal second anti-slip protrusions 107 are provided on the lower surface of the shoe middle 102. The first anti-slip protrusions 106 and the second anti-slip protrusions 107 can also be designed in other shapes, as long as they can achieve the anti-slip effect. The anti-slip protrusions effectively prevent slippage when wearing this foot pressure binding mechanism.

[0066] In addition, such as Figure 1 As shown, a foot connecting rod 6 is installed on the side of the middle part 102 of the shoe. The foot connecting rod 6 is used to connect to the lower leg rod of the exoskeleton robot.

[0067] Optional, such as Figure 2 As shown, multiple rubber pads 15 are provided at the bottom of the shoe base 1 to improve the softness of the bottom of the shoe base 1.

[0068] In summary, the foot pressure binding mechanism in this embodiment has the following characteristics: First, it uses a resistance bridge strain gauge sensor 13 to measure the plantar pressure. Compared with a thin film sensor, it can measure more accurately and is basically unaffected by ambient temperature, thus avoiding the problem of large measurement accuracy errors caused by changes in ambient temperature.

[0069] Secondly, since the resistance bridge strain gauge sensor 13 is installed inside the mounting base 10, the mounting base 10 can protect the resistance bridge strain gauge sensor 13 from damage such as impact, thereby improving reliability.

[0070] Third, since the sensor module 8 is very easy to install and remove, it can solve the problem of difficult disassembly when the sensor is damaged, and replacement is simple and convenient.

[0071] Fourth, the foot pressure binding mechanism can adapt to various geographical environments, and the tightness of the front foot strap 3 and the back foot strap 4 is adjustable, thus adapting to different people and improving versatility.

[0072] Example 2:

[0073] Embodiment 2 of this utility model provides an exoskeleton robot, which includes the foot pressure binding mechanism of Embodiment 1.

[0074] In the description of this utility model, it should be noted that the terms "upper" and "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0075] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0076] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A foot-pressure binding mechanism, characterized in that, The shoe includes a shoe base (1), a metal cover (2), and multiple sensor module components; the shoe base (1) includes a front part (101), a middle part (102), and a heel part (103) connected together, and the metal cover (2) covers and encloses the middle part (102); Each of the sensor module components includes a carrier (9) and at least one sensor module (8); from the front part (101) of the shoe to the heel part (103), a plurality of mounting slots corresponding to the carrier (9) are sequentially provided on the upper surface of the middle part (102) of the shoe, and the sensor module (8) is mounted on the carrier (9); The sensor module (8) includes a mounting base (10), a fixing plate (11), and a resistance bridge strain gauge sensor (13); the mounting base (10) is fixedly mounted on the bearing seat (9), the mounting base (10) has a mounting hole extending in the vertical direction, the fixing plate (11) is disposed in the mounting hole, and the fixing plate (11) is connected to the metal cover (2); One end of the resistance bridge strain gauge sensor (13) is connected to the mounting base (10), and the other end extends into the mounting hole and is connected to the fixing plate (11). The resistance bridge strain gauge sensor (13) is higher than the fixing plate (11) and the mounting base (10).

2. The foot-pressure binding mechanism according to claim 1, characterized in that, The resistance bridge strain gauge sensor (13) includes an elastic body and a resistance strain gauge. One end of the elastic body is connected to the fixed plate (11), and the other end is connected to the mounting base (10). The resistance strain gauge is attached to the surface of the elastic body. The top of the metal cover (2) has a rectangular hole (204) that corresponds one-to-one with the resistance bridge strain gauge sensor (13).

3. The foot-pressure binding mechanism according to claim 2, characterized in that, The sensor module assembly includes a support base (9) and two sensor modules (8), which are mounted on the support base (9) along the width direction of the shoe base (1).

4. The foot-pressure binding mechanism according to claim 1, characterized in that, The shoe's middle section (102) is equipped with a control board, and the resistance bridge strain gauge sensor (13) is connected to the control board via signal.

5. The foot-pressure binding mechanism according to claim 3, characterized in that, The mounting base (10) is in the shape of a U-shaped frame, the fixing plate (11) is in the shape of a U-shape, and the fixing plate (11) has first bolt holes at both ends. The metal cover (2) has second bolt holes (205) that correspond one-to-one with the first bolt holes. The first bolt holes of the fixing plate (11) and the second bolt holes (205) of the metal cover (2) are connected by locking bolts (12). The top of the bearing seat (9) has a plurality of grooves (903) that correspond one-to-one with the first bolt holes. The grooves (903) are located directly below the corresponding first bolt holes.

6. The foot-pressure binding mechanism according to claim 5, characterized in that, The support base (9) is in the shape of a long strip plate. A through hole is opened at each of the four corners of the mounting base (10). A vertically arranged threaded sleeve (904) is installed at each of the four corners of the support base (9). Two support plates (901) are installed in the middle of the support base (9). The support plate (901) is located between the two threaded sleeves (904) arranged along the length of the support base (9). Each support plate (901) has two screw holes. The two screw holes are arranged along the length of the support base (9). The upper surface of the threaded sleeve (904) is flush with the upper surface of the support plate (901).

7. The foot-pressure binding mechanism according to claim 1, characterized in that, At least one of the mounting slots is located near the forefoot (101) of the shoe, and at least one of the mounting slots is located near the heel (103).

8. The foot-pressure binding mechanism according to claim 1, characterized in that, It includes a forefoot strap (3), a heel strap (4), and a heel plastic component (5); from the forefoot (101) to the heel (103), the forefoot strap (3), the heel strap (4), and the heel plastic component (5) are sequentially installed on the middle part (102) of the shoe.

9. A foot-pressure binding mechanism according to claim 1, characterized in that, A foot connecting rod (6) is installed on the side of the middle part (102) of the shoe, and the foot connecting rod (6) is used to connect to the lower leg rod of the exoskeleton robot.

10. An exoskeleton robot, characterized in that, Includes a foot pressure binding mechanism as described in any one of claims 1-9.

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