A robotic foot-sensing shoe

Abstract

This utility model relates to a robot foot-sensing shoe, comprising: a wearable frame fixed to the robot's foot; a connecting member disposed on the top of the frame for a tight fit with the robot's foot; a ground contact layer fixedly connected to the bottom of the frame for direct contact with the ground to provide friction, wherein the ground contact layer has a notch in the inner area of ​​the middle of the sole to form an arch structure, thereby dividing the toe area, heel area, and outer foot area; a sensing layer disposed between the ground contact layer and the frame, including a mutual capacitance sensor for sensing the ground material and a tactile sensor for sensing contact pressure, wherein there are at least three tactile sensors, which are arranged in sections in the toe area, heel area, and outer foot area; and a processing module including a controller mounted on the frame and an interface for coupling the robot's electrical system, wherein the controller couples the interface to each sensor.

Description

Technical Field

[0001] This invention relates to the field of robot sensing technology, and in particular to a robot foot-sensing shoe. Background Technology

[0002] Most humanoid robots currently have flat feet without human-like arches, making it impossible to achieve a natural and smooth gait. In addition, robots lack a sensor system on their feet and do not have the ability to sense foot movement.

[0003] Foot sensors are of great significance for robots. In scenarios such as inspection of complex terrain and intelligent services, robots need the ability to sense the environment with their feet to help adjust their gait and balance. In static standing scenarios, the robot's foot sensing is helpful for adjusting the micro-balance of the torso. A balanced state can save energy consumption and improve battery life.

[0004] To fill the detection gap in robots without requiring large-scale upgrades to their feet, a new approach has emerged: equipping robots with sensor shoes to transform their feet from passive ground support tools into intelligent terminals that actively perceive the ground environment.

[0005] Application CN116176728A discloses a robotic sensing shoe that separates the robot's foot into a rigid foot and a flexible shoe. A groove running through the middle of the shoe divides the sole into a front section simulating the forefoot and a rear section simulating the heel. Tactile sensors are placed inside the shoe at both the front and rear sections to detect contact force, while acoustic sensors are placed in the groove to collect audio data from the shoe's contact with different ground materials for terrain recognition. While this two-section design with the groove running the entire length of the shoe, along with the front and rear sensors, helps in sensing and adjusting the robot's natural gait and balance, it lacks left-right balance sensing capabilities and struggles to detect lateral shear forces (the lateral component of foot slippage).

[0006] With only forward and backward perception, the robot can walk stably on flat ground, but its performance is insufficient in complex terrain. Utility Model Content

[0007] This invention aims to enable the robot's foot-sensing shoes to recognize terrain and front-to-back and left-to-right forces, thereby assisting the robot in adjusting its micro-balance when standing / walking, improving standing stability, and increasing the sensitivity of lateral force recognition.

[0008] To address this, a robotic foot-sensing shoe is provided, comprising: a frame for wearable fixation to the robot's foot, serving as the overall structural support for the sensing shoe; a connecting member disposed on the top of the frame for a tight fit with the robot's foot; a ground contact layer fixedly connected to the lower part of the frame, made of wear-resistant material, for direct contact with the ground and providing friction, wherein the ground contact layer has a notch in the inner region of the middle of the sole to form an arch structure, thereby dividing the ground contact layer into a toe area in front of the notch, a heel area behind the notch, and an outer region of the foot outside the notch; a sensing layer disposed between the ground contact layer and the frame, including a mutual capacitance sensor for sensing the ground material and a tactile sensor for sensing contact pressure, wherein there are at least three tactile sensors, which are arranged in sections in the toe area, heel area, and outer region of the foot; and a processing module, including a controller mounted on the frame and an interface for coupling the robot's electrical system, wherein the controller couples the interface to each sensor.

[0009] Furthermore, each region has an upper electrode and a lower electrode stacked together, with an insulating layer separating the two electrodes. The upper electrode and the lower electrode together form a tactile sensor, and each pair of lower electrodes forms a mutual capacitance sensor. The processing module includes a capacitance-to-digital conversion circuit and a switch array mounted on the frame. The capacitance-to-digital conversion circuit is coupled to each electrode through the switch array, and the controller is coupled to the capacitance-to-digital conversion circuit.

[0010] Furthermore, each region contains several tactile sensors, which are arranged in an array within the region.

[0011] Furthermore, the lower electrodes within the same region are interconnected to form one or more wholes, with the lower electrodes serving as shielding electrodes for the upper electrodes.

[0012] Furthermore, the gap is an arched opening resembling a human foot.

[0013] Furthermore, the ground contact layer is an elastomer.

[0014] Furthermore, the interface is a wired transmission line.

[0015] Furthermore, the interface is configured as a leg-covering sock for the robot; the leg-covering sock includes a flexible sock leg portion for forming a cover for the robot's legs, a flexible sock body portion for forming a cover for the robot's feet, and transmission lines; wherein, the sock body portion is connected to the lower edge of the sock leg portion, and has an inner cavity for accommodating the robot's feet, the transmission lines are fixed to the cover and extend from the sock body portion to the sock leg portion, the end of the transmission lines near the sock leg portion is connected to a first terminal for docking with the robot's own electrical system, and the end near the sock body portion is connected to a second terminal for docking with a controller.

[0016] Furthermore, the connecting components are rigid.

[0017] By creating an arch in the inner part of the sole, and then strategically placing mutual capacitance sensors and tactile sensors in the toe, heel, and outer sides of the foot, the robot can achieve terrain recognition and the ability to perceive forces in all directions, which helps with micro-balance adjustment when standing or walking. Simultaneously, by having the inner notches of both feet face each other, the robot's fulcrum shifts outward, increasing the lever arm and improving stability, resulting in greater energy efficiency when maintaining balance. Furthermore, considering the large changes in pressure and small lateral forces during walking, and the shape of the sole being longer at the front and narrower at the sides, the inner notch design reduces the contact area on the outer side of the foot, increasing pressure and significantly amplifying weak lateral forces, thus improving the sensitivity of lateral recognition. Attached Figure Description

[0018] Figure 1 A cross-sectional view of the robotic foot-sensing shoe is shown.

[0019] Figure 2 The sole structure of the foot-sensing shoe is shown.

[0020] Figure 3a The electrode arrangement structure of the sensing layer in each region is shown.

[0021] Figure 3b A schematic diagram of the operation of the tactile sensor is shown.

[0022] Figure 3c It shows Figure 3b Enlarged view of point A in the middle.

[0023] Figure 3d A schematic diagram of the operation of the mutual capacitance sensor when measuring ground material is shown.

[0024] Figure 4 A schematic diagram shows the robot's foot-sensing shoe connected to the robot's electrical system via a sock wrapped around the leg. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments described below are only for explaining this utility model and are not intended to limit the scope of protection of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0026] Figure 1 A cross-sectional view of the robotic foot-sensing shoe is shown. Figure 1As shown, the robot's foot-sensing shoe consists of a frame 10, a connecting component 20, a ground contact layer 30, and a sensing layer 40.

[0027] The skeleton 10 uses a rigid base to support the overall structure of the sensing shoe, and its sides have an upper structure 11 that extends upward to wrap around the foot. A connecting member 20 is located at the top of the skeleton 10. The connecting member 20 is a rigid component and uses fastening screws to mechanically fasten the skeleton 10 to the robot's footplate 50. The skeleton 10 is wearably and securely attached to the robot's foot through the upper structure 11 and the connecting member 20.

[0028] The ground contact layer 30 is fixedly connected to the underside of the frame 10, serving as the outsole of the shoe sole. The ground contact layer 30 is made of a wear-resistant material that directly contacts the ground and is responsible for providing friction with the ground. Figure 2 The sole structure of the foot-sensing shoe is shown. For example... Figure 1 , Figure 2 As shown, the ground contact layer 30 has a notch 31 cut out in the inner area (left-right direction) of the middle of the sole, while the outer area is retained, forming an anthropomorphic arch. With the notch 31 as the boundary, the ground contact layer 30 is divided into the toe area 32 located in front of the notch 31, the heel area 33 located behind the notch 31, and the outer foot area 34 located outside the notch 31.

[0029] like Figure 1 , Figure 2 As shown, the sensing layer 40 is disposed between the ground contact layer 30 and the frame 10, including mutual capacitance sensors for sensing the ground material and tactile sensors for sensing contact pressure. Both use capacitance to form the sensing, and at least three tactile sensors are provided, arranged in sections in the toe area 32, heel area 33 and outer foot area 34, to form front and rear force sensing and lateral shear force sensing (coordination of left and right feet).

[0030] The electrical system of the foot-sensing shoe includes a processing module. The processing module includes a controller mounted on the frame 10 and an interface for coupling the robot's electrical system. The controller couples the interface to each mutual capacitance sensor and tactile sensor.

[0031] By creating an arch by opening a notch 31 only in the inner part of the sole, and arranging mutual capacitance sensors and tactile sensors in the toe area 32, heel area 33, and outer foot area 34 formed therein, the robot can achieve terrain recognition and front-back and left-right force recognition capabilities, which helps with micro-balance adjustment when the robot is standing / walking. At the same time, by having the notches 31 on the inner sides of both feet face each other, the robot's standing fulcrum moves outward, the lever arm increases, which can improve standing stability and make it more energy-efficient when standing and balancing. Furthermore, considering the characteristics of large front-back pressure changes and small lateral forces during walking, combined with the shape of the sole that is long in front and back and narrow in the sides, the design of the notch 31 in the inner area can reduce the contact area of ​​the outer foot area 34, and the increased pressure forms a significant amplification of weak lateral forces, which helps to improve the sensitivity of lateral recognition.

[0032] As an example improvement, refer to Figures 3a-3d In the toe area 32, heel area 33, and outer foot area 34, each region of the sensing layer 40 has an upper electrode 41 and a lower electrode 42 stacked together. The upper electrode 41 is located on the bottom surface of the flexible circuit board 43 and is a planar dot electrode. The flexible circuit board 43 is fixed below the frame 10.

[0033] In one example, the lower electrode 42 can be a planar dot electrode, with the upper and lower electrodes vertically aligned and filled with a flexible insulating material to form a parallel plate capacitive sensing structure. The upper and lower electrodes of each dot constitute a tactile sensor.

[0034] In another example, preferably, such as Figure 3a As shown, the lower electrode 42 is configured as a curved elastic electrode, which is made of conductive silicone, with its top curved surface facing the upper electrode 41. The curved elastic electrode can be spherical, ellipsoidal, or hemispherical, providing higher force sensitivity. In this preferred embodiment, the bottom surface of the upper electrode 41 is covered with an insulating film, and the top of the curved elastic electrode abuts against the insulating film. The upper and lower electrodes constitute a tactile sensor, where changes in the distance and contact area during pressing cause changes in self-capacitance or mutual capacitance. In further optimizations and improvements… Figure 3a The upper circular electrode can be cut into two or four petals, and mutual capacitance is formed between the electrodes. By utilizing the insensitivity of mutual capacitance to the environment, a higher interference capability can be achieved.

[0035] It can be understood that by inputting an excitation to one electrode and receiving a response signal from it, a self-capacitance can be obtained; for an electrode pair, by inputting an excitation to one electrode and receiving a response from the other electrode, the mutual capacitance between the two can be obtained. Figure 3aIn the structure shown, the lower electrode 42 can be grounded, and the pressure change can be reflected by the self-capacitance of the upper electrode 41. Alternatively, the pressure change can be reflected by the mutual capacitance between the upper and lower electrodes. In the case of a split upper electrode 41, the pressure change can be reflected by the mutual capacitance between the two upper lobes. This signal excitation mode should not be construed as limiting this embodiment.

[0036] Figure 3b A schematic diagram of the operation of the tactile sensor is shown. Figure 3c It shows Figure 3b A magnified view of point A in the middle. Figure 3c In the middle, the dots of the upper electrode 41 are cut in half to form an electrode pair. When the sole contacts the ground, the conductive silicone deforms, causing a change in the mutual capacitance of the electrode pair, which can be used to obtain the corresponding pressure.

[0037] Figure 3d This diagram illustrates the operation of a mutual capacitance sensor when measuring ground material. In the toe region 32, heel region 33, and outer foot region 34, each pair of the lower electrodes 42 forms a mutual capacitance sensor, achieving structural reuse. In combination, the toe region 32 and heel region 33 form the largest spatially distributed mutual capacitance electric field, while the heel region 33 and outer foot region 34 form a mutual capacitance electric field with higher coupling strength. When measuring ground material, different dielectric constants of the ground material cause different values ​​of mutual capacitance, allowing for the identification of changes in ground material.

[0038] In this embodiment, the processing module includes a capacitance-to-digital converter circuit and a switch array mounted on the frame 10. Both, along with the controller, are located on the flexible circuit board 43. The capacitance-to-digital converter circuit couples to each electrode through the switch array, and the controller couples to the capacitance-to-digital converter circuit. When about to step on the ground, the capacitance-to-digital converter circuit obtains the mutual capacitance between the lower electrodes 42 of each pair of regions in the toe area 32, heel area 33, and outer foot area 34 through the switch array. When stepping on the ground, the capacitance-to-digital converter circuit switches to obtain the capacitance value of the tactile sensor through the switch array.

[0039] like Figure 3a As shown, each region contains several tactile sensors arranged in an array within the region. The upper electrodes 41 within the region form a dot matrix distribution, with a corresponding lower electrode 42 positioned below each dot. The upper and lower electrodes at each dot form a tactile sensor. This arrangement allows for the acquisition of pressure distribution within the region. Furthermore, the lower electrodes 42 within the same region are interconnected to form one or more integral units, with the lower electrodes 42 serving as shielding electrodes for the upper electrodes 41. Even further, within the same region, insulating silicone is used to encapsulate each lower electrode 42 to form an integral structure.

[0040] like Figure 2As shown, in this embodiment, the gap 31 is an arched gap that mimics the shape of a human foot, forming an arched lateral anti-tipping mechanism and improving the naturalness of the robot's gait.

[0041] In the optional example scheme, the ground contact layer 30 is an elastomer, forming a buffer and shock absorption.

[0042] As an example improvement, such as Figure 4 As shown, the interface is a wired transmission line to ensure reliable signal transmission. Considering that current robot external interfaces are generally located on the legs or waist, to avoid cable swinging and improve reliability and aesthetics, the interface is designed as a silicone or fabric sock structure, forming a robot leg and foot covering sock 60. Specifically, the leg and foot covering sock 60 includes a flexible sock leg portion for forming the robot's leg cover, a flexible sock body portion for forming the robot's foot cover, and transmission lines. The sock body portion is connected to the lower edge of the sock leg portion, and its inner side has a receiving cavity to accommodate the robot's foot. The transmission lines are fixed in the interlayer of the cover and extend from the sock body portion to the sock leg portion. The end of the transmission lines near the sock leg portion is connected to a first terminal 61 for docking with the robot's own electrical system, and the end near the sock body portion is connected to a second terminal 62 for docking with the controller. By utilizing the elastic covering of the robot's legs and feet in the sock shape, and with the protective sock itself acting as an electrical conduction component, the transmission lines are elastically constrained and fixed, avoiding the risk of interface loosening and improving the aesthetics.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although detailed description has been provided with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A robotic foot-sensing shoe, characterized in that, include: The skeleton is used to be worn and fixed to the robot's foot, serving as the overall structural support for the sensing shoe. A connecting component, located at the top of the frame, is used to form a tight fit with the robot's feet; The ground contact layer, fixedly connected to the bottom of the frame, is made of wear-resistant material and is used to directly contact the ground and provide friction. The ground contact layer has a notch in the inner area of ​​the middle inner and outer sides of the sole to form an arch structure, thereby dividing the ground contact layer into the toe area in front of the notch, the heel area behind the notch, and the outer area of ​​the foot outside the notch. A sensing layer, disposed between the ground contact layer and the frame, includes a mutual capacitance sensor for sensing the ground material and a tactile sensor for sensing contact pressure. The tactile sensor has at least three sensors, which are arranged in sections in the toe area, heel area and outer foot area. The processing module includes a controller mounted on the skeleton and an interface for coupling the robot's electrical system, wherein the controller couples the interface to each sensor.

2. The robotic foot-sensing shoe according to claim 1, characterized in that, Each region has an upper electrode and a lower electrode stacked together, with an insulating layer separating the two electrodes. The upper electrode and the lower electrode together form a tactile sensor, and each pair of lower electrodes forms a mutual capacitance sensor. The processing module includes a capacitor-to-digital converter circuit and a switch array mounted on the frame. The capacitor-to-digital converter circuit is coupled to each electrode through the switch array, and the controller is coupled to the capacitor-to-digital converter circuit.

3. The robotic insole shoe of claim 2, wherein, Each region has several tactile sensors, which are arranged in an array within the region.

4. The robotic foot-sensing shoe according to claim 3, characterized in that, The lower electrodes within the same region are interconnected to form one or more units, and the lower electrodes serve as shielding electrodes for the upper electrodes.

5. The robotic insole shoe of claim 1, wherein, The gap is an arched opening resembling a human foot.

6. The robotic insole shoe of claim 1, wherein, The ground contact layer is an elastomer.

7. The robotic insole shoe of claim 1, wherein, The interface is a wired transmission line.

8. The robotic insole shoe of claim 7, wherein, The interface is configured as a leg-covering sock for the robot; the leg-covering sock includes a flexible sock leg portion for forming a cover for the robot's legs, a flexible sock body portion for forming a cover for the robot's feet, and a transmission line; wherein, the sock body portion is connected to the lower edge of the sock leg portion, and has an inner cavity for accommodating the robot's feet, the transmission line is fixed to the cover and extends from the sock body portion to the sock leg portion, the end of the transmission line near the sock leg portion is connected to a first terminal for docking with the robot's own electrical system, and the end near the sock body portion is connected to a second terminal for docking with the controller.

9. The robotic foot-sensing shoe according to claim 1, characterized in that, The connecting component is a rigid component.

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