Parallel robot leg-foot structure with force feedback and control system
Patent Information
- Application Number
- CN202522580992.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-04
- Publication Date
- 2026-10-27
- Estimated Expiration
- 2035-12-04
AI Technical Summary
[0004]本申请提供了一种带力反馈的并联式机器人腿足结构及控制系统，以解决足部结构零部件较多，足部整体重量较大、结构臃肿，不仅增加了机器人驱动足部运动的能耗，还使得足部的响应速度变慢；而且现有的人形机器人的足部结构中，缺乏采集足底局部区域的受力信息，以判断足底不同分区的受力差异以及地形特征，无法及时根据地面状况和运动需求调整姿态，从而无法进一步根据地形特征去控制足部结构运动状态的问题
1.本申请的足底板上内置有压力传感器，多个压力传感器分布于足底板的多个位置，用于充分检测足底板所受到的脚掌的受力，从而反馈至上位机，利于上位机实时控制腿足结构的运动，通过压力传感器反馈的受力数据能够进一步精准解析接触面积、摩擦状态等地形特征。足底板与小腿外壳之间通过万向十字节进行连接，可实现俯仰、倾覆等多个自由度的调节，从而实现脚掌与地面的最大贴合，增加机器人运动过程中的稳定性；本申请的机器人腿足结构中具有两个并联设置的第一关节模组和第二关节模组，两个关节模组之间呈并联设置能够双自由度独立调节，对小角度进行灵活修整，姿态控制更加精确，而且本申请的第一关节模组通过第一连杆结构连接于足底板的足底支架，第二关节模组通过第二连杆结构连接于足底板的足底支架，足底支架的一侧连接第一连杆，足底支架的另一侧连接第二连杆，形成连杆机构，连接机构能够进一步增强机器人腿足结构的刚度，使得工作过程中变形小，控制误差低，而且连杆机构还能够通过协同工作放大第一关节模组和第二关节模组中的电机驱动力，负重支撑能力得到提高。
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Figure CN224898979U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of mechanical leg technology, specifically relating to a parallel robot leg structure and control system with force feedback. Background Technology
[0002] The feet, as the part that contacts the ground, are a core component for achieving stable robot movement, environmental interaction, and practical application.
[0003] In the current design of humanoid robots' feet, it is difficult to balance rigidity and terrain conformity. While a rigid structure can ensure structural stability to some extent, it is poorly adaptable to complex terrain and cannot conform well to uneven surfaces. This can lead to problems such as bumping and tilting when the robot moves on complex terrain, affecting its motion stability. On the other hand, if a flexible structure is used to improve terrain conformity, its insufficient rigidity makes it difficult to stably support the robot's weight, and it is prone to deformation during power transmission, further reducing the stability and accuracy of the robot's movement. In order to achieve a balance of rigidity and flexibility, existing patents incorporate rigid ropes and multiple support structures connected to the rigid ropes within the foot joints. This results in a large number of foot components, a heavy overall weight, and a bulky structure. This not only increases the energy consumption for driving foot movement but also slows down the foot's response speed. Furthermore, existing humanoid robot foot structures lack the ability to collect force information from localized areas of the sole to determine the force differences in different zones and terrain features. This makes it impossible to adjust posture in a timely manner based on ground conditions and movement requirements, thus hindering further control of the foot structure's movement based on terrain features. Consequently, it is impossible to adjust foot posture promptly and accurately, reducing the robot's stability and adaptability. Utility Model Content
[0004] This application provides a parallel robot leg structure and control system with force feedback to solve the problems of numerous foot structure components, large overall weight, and bulky structure, which not only increase the energy consumption of the robot to drive foot movement, but also slow down the response speed of the foot. Moreover, the existing foot structures of humanoid robots lack the ability to collect force information of local areas of the sole to determine the force differences of different sections of the sole and the terrain features, and cannot adjust the posture in time according to the ground conditions and movement requirements, thus failing to further control the movement state of the foot structure based on terrain features.
[0005] The technical solution adopted in this application is as follows: A parallel robot leg structure with force feedback, comprising: The foot plate has multiple pressure sensors connected inside it, and the pressure sensors are distributed around the perimeter of the foot plate; the top of the foot plate is connected to a foot support and a universal joint. The lower leg shell is connected to the top of the foot plate via a universal tenon hinge; a first joint module and a second joint module are connected in parallel inside the lower leg shell; the first joint module is connected to one side of the foot support via a first connecting rod; the second joint module is connected to the other side of the foot support via a second connecting rod. The first joint module includes a first joint housing and a first motor, a first current sensor, and a first flange connected within the first joint housing; the first flange is connected to the output end of the first motor, one end of the first connecting rod is hinged to the first flange, and the other end of the first connecting rod is hinged to one side of the foot support; the second joint module includes a second joint housing and a second motor, a second current sensor, and a second flange connected within the second joint housing; the second flange is connected to the output end of the second motor, one end of the second connecting rod is hinged to the second flange, and the other end of the second connecting rod is hinged to the other side of the foot support.
[0006] The lower leg shell includes a first shell and a second shell that are symmetrically connected; the first shell has a plurality of positioning posts connected to its periphery, and the second shell has positioning holes corresponding to the plurality of positioning posts on its periphery. The connection between the first shell and the second shell is achieved by bolts passing through the positioning holes and the positioning posts.
[0007] The first housing has a first cavity, and the first motor of the first joint module is connected to the first cavity, with one side of the output end of the first motor facing the second housing.
[0008] The second housing has a second cavity, and the second motor of the second joint module is connected to the second cavity, with one side of the output end of the second motor facing the first housing.
[0009] The bottom of the first housing has an inwardly protruding first positioning boss for connecting with a universal joint, and the bottom of the second housing has an inwardly protruding second positioning boss for connecting with a universal joint.
[0010] The foot plate includes a foot plate body and a sealing element; the foot plate body is made of metal, and the sealing element is covered and connected to the outer surface of the foot plate body, and the sealing element is made of PU adhesive.
[0011] The length of the first link is greater than the length of the second link.
[0012] The first joint module further includes a first position sensor connected inside the first joint housing; the second joint module further includes a second position sensor connected inside the second joint housing.
[0013] This application also relates to a control system for a parallel robot leg structure with force feedback, which is based on the above-described parallel robot leg structure with force feedback and includes a host computer, a current sensor, a position sensor, and a joint module. The host computer is connected to the position sensor, the joint module, and the current sensor respectively. The position sensor is used to upload the position data of the leg structure to the host computer, and the current sensor is used to detect the working current data and feed it back to the host computer. The host computer controls the joint module to move to the target position based on the position data and the working current data.
[0014] The control system for the parallel robot leg structure with force feedback also includes a communication module, a data processing module, and a pressure sensor; The communication module is connected to the host computer, the data processing module is connected to the communication module, and the communication module is connected to the pressure sensor. When an external input command is received, it can be transmitted to the host computer through the communication module. The host computer controls the joint module to move according to the external input command. The pressure sensor can detect the plantar pressure of the leg structure in real time and feed the pressure value back to the data processing module. The data processing module can analyze and confirm the working state of the plantar surface and convert it into the motion data of the joint module, and feed it back to the host computer through the communication module to form a closed-loop control.
[0015] The joint module is connected to a position sensor and a current sensor respectively, and the motion data of the joint module can be fed back to the host computer through the position sensor and the current sensor.
[0016] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows: 1. The foot plate of this application has built-in pressure sensors. Multiple pressure sensors are distributed at multiple positions on the foot plate to fully detect the force of the foot on the foot plate, and then feed it back to the host computer. This allows the host computer to control the movement of the leg and foot structure in real time. The force data fed back by the pressure sensors can be further analyzed to accurately determine the terrain features such as contact area and friction state. The foot plate and the lower leg shell are connected by a universal joint, enabling adjustment of multiple degrees of freedom such as pitch and tilt, thereby maximizing the contact between the foot and the ground and increasing the stability of the robot during movement. The robot leg structure of this application has two parallel-connected first joint modules and second joint modules. The two joint modules are arranged in parallel and can be independently adjusted with two degrees of freedom, allowing for flexible adjustment of small angles and more precise posture control. Moreover, the first joint module is connected to the foot support of the foot plate through a first linkage structure, and the second joint module is connected to the foot support of the foot plate through a second linkage structure. One side of the foot support is connected to the first linkage, and the other side of the foot support is connected to the second linkage, forming a linkage mechanism. The connecting mechanism can further enhance the rigidity of the robot leg structure, resulting in less deformation and lower control error during operation. In addition, the linkage mechanism can also amplify the motor driving force in the first and second joint modules through collaborative work, thereby improving the load-bearing capacity.
[0017] The first joint module of this application integrates a first current sensor, and the second joint module integrates a second current sensor. The first and second current sensors can detect the operating current in real time. When the current exceeds a set peak value, a stop signal can be sent to the host computer to stop the joint movement. Moreover, the first and second joint modules of this application can be connected to the host computer, and the host computer can control the movement of the first and second joint modules. This allows for precise control of the output torque of the first or second motor through current, which can quickly suppress current disturbances caused by sudden load changes when the humanoid robot's foot contacts the ground, ensuring stable operation of the module. Attached Figure Description
[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a side view of a force-feedback parallel robot leg structure according to one embodiment of this application; Figure 2 This is an internal structural diagram of a parallel robot leg structure with force feedback according to one embodiment of this application; Figure 3This is a schematic diagram of the control system of a parallel robot leg structure with force feedback according to one embodiment of this application; In the picture, 1. Foot plate; 2. First outer shell; 3. Second outer shell; 4. Universal joint; 5. First joint module; 6. Second joint module; 7. First flange; 8. Second flange; 9. First connecting rod; 10. Second connecting rod; 11. First cavity; 12. First positioning boss; 13. Positioning post. Detailed Implementation
[0019] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.
[0020] Furthermore, it should be understood in the description of this application that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.
[0021] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0022] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "implementation," "example," "a particular embodiment," "example," or "specific example," etc., indicate that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.
[0023] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.
[0024] Example 1 This application relates to a parallel robot leg structure with force feedback, such as... Figure 1-2 As shown, it includes: The foot plate 1 has multiple pressure sensors connected inside it, and the multiple pressure sensors are distributed around the foot plate 1; the top of the foot plate 1 is connected to a foot support and a universal joint 4. The lower leg shell is hinged to the upper part of the foot plate 1 via a universal joint 4; a first joint module 5 and a second joint module 6 are connected in parallel inside the lower leg shell; the first joint module 5 is connected to one side of the foot support via a first connecting rod 9; the second joint module 6 is connected to the other side of the foot support via a second connecting rod 10. The first joint module 5 includes a first joint housing and a first motor, a first current sensor, and a first flange 7 connected within the first joint housing; the first flange 7 is connected to the output end of the first motor, one end of the first connecting rod 9 is hinged to the first flange 7, and the other end of the first connecting rod 9 is hinged to one side of the foot support; the second joint module 6 includes a second joint housing and a second motor, a second current sensor, and a second flange 8 connected within the second joint housing; the second flange 8 is connected to the output end of the second motor, one end of the second connecting rod 10 is hinged to the second flange 8, and the other end of the second connecting rod 10 is hinged to the other side of the foot support.
[0025] The foot plate 1 of this application has a built-in pressure sensor. Multiple pressure sensors are distributed at multiple positions on the foot plate 1 to fully detect the force of the foot on the foot plate 1, and then feed it back to the host computer, so as to enable the host computer to control the movement of the leg and foot structure in real time. The foot plate 1 and the lower leg shell are connected by a universal joint 4, which allows for adjustment of multiple degrees of freedom such as pitch and tilt, thereby maximizing the contact between the foot and the ground and increasing the stability of the robot during movement. The robot leg structure of this application has two parallel-connected first joint modules 5 and second joint modules 6. The two joint modules are arranged in parallel and can be independently adjusted with two degrees of freedom, allowing for flexible adjustment of small angles and more precise posture control. Moreover, the first joint module 5 is connected to the foot support of the foot plate 1 through a first link 9, and the second joint module 6 is connected to the foot support of the foot plate 1 through a second link 10. One side of the foot support is connected to the first link 9, and the other side of the foot support is connected to the second link 10, forming a linkage mechanism. The connecting mechanism can further enhance the rigidity of the robot leg structure, resulting in small deformation and low control error during operation. In addition, the linkage mechanism can also amplify the motor driving force in the first joint module 5 and the second joint module 6 through collaborative work, thereby improving the load-bearing capacity.
[0026] The first joint module 5 of this application integrates a first current sensor, and the second joint module 6 integrates a second current sensor. The first and second current sensors can detect the operating current in real time. When the current exceeds a set peak value, a stop signal can be sent to the host computer to stop the joint movement. Moreover, the first joint module 5 and the second joint module 6 of this application can be connected to the host computer, and the host computer can control the movement of the first joint module 5 and the second joint module 6. This allows for precise control of the output torque of the first motor or the second motor through current control, which can quickly suppress the current disturbance caused by sudden load changes when the humanoid robot's foot contacts the ground, ensuring stable operation of the module.
[0027] In a preferred embodiment, the lower leg shell includes a first shell 2 and a second shell 3 that are symmetrically connected; the first shell 2 is connected to a plurality of positioning posts 13 on its periphery, and the second shell 3 has positioning holes on its periphery that correspond to the plurality of positioning posts 13 respectively. The connection between the first shell 2 and the second shell 3 is achieved by bolts being inserted into the positioning holes and the positioning posts 13.
[0028] The lower leg shell adopts a symmetrically connected first shell 2 and second shell 3 structure, which facilitates the disassembly of the lower leg shell. Moreover, the first shell 2 is connected to multiple positioning posts 13 on its periphery. The positioning posts 13 have countersunk holes for bolts to be inserted. The second shell 3 is connected to positioning holes corresponding to the positioning posts 13 on its periphery. By inserting bolts into the positioning holes and positioning posts 13, the first shell 2 and the second shell 3 can be detachably connected. This facilitates timely disassembly and repair in case of internal structural failure, and also facilitates assembly. When either the first shell 2 or the second shell 3 is damaged, it can be replaced in a timely manner.
[0029] In a preferred embodiment, the first housing 2 has a first cavity 11, and the first motor of the first joint module 5 is connected to the first cavity 11, with the output end of the first motor facing the second housing 3. Furthermore, the second housing 3 has a second cavity, and the second motor of the second joint module 6 is connected to the second cavity, with the output end of the second motor facing the first housing 2.
[0030] The first cavity 11 and the second cavity are arranged opposite each other to form a space for accommodating the first joint module 5 and the second joint module 6 arranged in parallel. The first motor of the first joint module 5 is connected to the first cavity 11 and fixedly connected to the inside of the first outer shell 2. The output shaft of the first motor faces the second outer shell 3, facilitating its connection to the first flange 7, which is then hinged to the first connecting rod 9. The second motor of the second joint module 6 is connected to the second cavity and fixedly connected to the inside of the second outer shell 3. The output shaft of the second motor faces the first outer shell 2, facilitating its connection to the second flange 8, which is then hinged to the second connecting rod. Placing the first motor and the second motor on the first outer shell 2 and the second outer shell 3 respectively helps to balance the weight, resulting in a more balanced force distribution on both sides of the leg structure.
[0031] In a preferred embodiment, the bottom of the first housing 2 has an inwardly protruding first positioning boss 12 for connecting with the universal joint 4, and the bottom of the second housing 3 has an inwardly protruding second positioning boss for connecting with the universal joint 4.
[0032] By providing a raised first positioning boss 12 inside the first outer shell 2, and opening a first mounting hole inside the first positioning boss 12, the first mounting hole is used to rotatably connect with one side of the universal joint 4. Similarly, by providing a raised second positioning boss inside the second outer shell 3, and opening a second mounting hole inside the second positioning boss, the second mounting hole is used to rotatably connect with the other side of the universal joint 4, thereby enabling the legs to achieve multiple degrees of freedom such as pitch and tilt relative to the foot, increasing the stability of the robot during movement, allowing the foot plate 1 to fit the ground to the maximum extent, and providing stronger load-bearing support.
[0033] In a preferred embodiment, the foot plate 1 includes a foot plate 1 body and a sealing element; the foot plate 1 body is made of metal, and the sealing element is covered and connected to the outer surface of the foot plate 1 body, and the sealing element is made of PU rubber.
[0034] The internal skeleton of the footplate 1 in this application uses metal parts for support, and the contact parts with the outside are covered with PU. By adjusting the hardness of the PU multiple times, the rigidity and flexibility of the foot are coupled, taking into account both the support rigidity of the foot and the landing cushioning effect.
[0035] In a preferred embodiment, the length of the first link 9 is greater than the length of the second link 10.
[0036] Since the first motor is positioned above the second motor, and the distance from the first motor to the foot support is greater than the distance from the second motor to the foot support, the length of the first link 9 is greater than the length of the second link 10.
[0037] In a preferred embodiment, the first joint module 5 further includes a first position sensor connected within the first joint housing; the second joint module 6 further includes a second position sensor connected within the second joint housing. By integrating the first position sensor in the first joint module 5 and the second position sensor in the second joint module 6, the movement positions of the first joint module 5 and the second joint module 6 can be detected through the setting of the first and second position sensors. When a target position is reached, a stop signal can be sent to the host computer, which can then control the first joint module 5 and the second joint module 6 to stop their joint movement.
[0038] Example 2 This application also relates to a control system for a parallel robot leg structure with force feedback, based on the aforementioned parallel robot leg structure with force feedback, such as... Figure 3 As shown, it includes a host computer, a current sensor, a position sensor, and a joint module; The host computer is connected to the position sensor, the joint module, and the current sensor respectively. The position sensor is used to upload the position data of the leg structure to the host computer, and the current sensor is used to detect the working current data and feed it back to the host computer. The host computer controls the joint module to move to the target position based on the position data and the working current data.
[0039] The control system for the parallel robot leg structure with force feedback also includes a communication module, a data processing module, and a pressure sensor; The communication module is connected to the host computer, the data processing module is connected to the communication module, and the communication module is connected to the pressure sensor. When an external input command is received, it can be transmitted to the host computer through the communication module. The host computer controls the joint module to move according to the external input command. The pressure sensor can detect the plantar pressure of the leg structure in real time and feed the pressure value back to the data processing module. The data processing module can analyze and confirm the working state of the plantar surface and convert it into the motion data of the joint module, and feed it back to the host computer through the communication module to form a closed-loop control.
[0040] The joint module is connected to a position sensor and a current sensor respectively, and the motion data of the joint module can be fed back to the host computer through the position sensor and the current sensor.
[0041] The joint module of this application integrates current and position sensors and adopts a current loop control mode, enabling dual control of the motor through both current loop and force feedback. Current loop control directly controls the operating current of the drive motor, providing fast dynamic response and limiting peak current to prevent motor overload, protect the foot's drive components, and improve operational reliability. Force feedback adjustment, through analysis of data from the foot force sensor, corrects the drive torque in real time, precisely controlling the contact force between the foot and the ground, preventing excessive or insufficient force, and improving stability on complex terrains. The two control mechanisms work together: the current loop ensures drive response speed, while force feedback corrects control deviations, achieving rapid response and precise force control. This allows for adaptation to different ground hardness and load variations, reducing impact transmission to the foot and lowering the risk of robot tipping or component damage.
[0042] For any parts not mentioned in this application, existing technologies may be used or referenced.
[0043] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.
[0044] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. A parallel robot leg structure with force feedback, characterized in that, include: The foot plate has multiple pressure sensors connected inside it, and the pressure sensors are distributed around the perimeter of the foot plate; the top of the foot plate is connected to a foot support and a universal joint. The lower leg shell is connected to the top of the foot plate via a universal ten-way hinge; a first joint module and a second joint module are connected in parallel inside the lower leg shell; The first joint module includes a first joint housing and a first motor, a first current sensor, and a first flange connected within the first joint housing; the first flange is connected to the output end of the first motor, one end of the first connecting rod is hinged to the first flange, and the other end of the first connecting rod is hinged to one side of the foot support; the second joint module includes a second joint housing and a second motor, a second current sensor, and a second flange connected within the second joint housing; the second flange is connected to the output end of the second motor, one end of the second connecting rod is hinged to the second flange, and the other end of the second connecting rod is hinged to the other side of the foot support.
2. The parallel robot leg structure with force feedback according to claim 1, characterized in that, The lower leg shell includes a first shell and a second shell that are symmetrically connected; the first shell has a plurality of positioning posts connected to its periphery, and the second shell has positioning holes corresponding to the plurality of positioning posts on its periphery. The connection between the first shell and the second shell is achieved by bolts passing through the positioning holes and the positioning posts.
3. The parallel robot leg structure with force feedback according to claim 2, characterized in that, The first housing has a first cavity, and the first motor of the first joint module is connected to the first cavity, with one side of the output end of the first motor facing the second housing; the second housing has a second cavity, and the second motor of the second joint module is connected to the second cavity, with one side of the output end of the second motor facing the first housing.
4. The parallel robot leg structure with force feedback according to claim 2, characterized in that, The bottom of the first housing has an inwardly protruding first positioning boss for connecting with a universal joint, and the bottom of the second housing has an inwardly protruding second positioning boss for connecting with a universal joint.
5. The parallel robot leg structure with force feedback according to claim 1, characterized in that, The foot plate includes a foot plate body and a sealing element; the foot plate body is made of metal, and the sealing element is covered and connected to the outer surface of the foot plate body, and the sealing element is made of PU adhesive.
6. The parallel robot leg structure with force feedback according to claim 1, characterized in that, The length of the first link is greater than the length of the second link.
7. The parallel robot leg structure with force feedback according to claim 1, characterized in that, The first joint module further includes a first position sensor connected inside the first joint housing; the second joint module further includes a second position sensor connected inside the second joint housing.
8. A control system for a parallel robot leg structure with force feedback, based on the parallel robot leg structure with force feedback as described in any one of claims 1-7, characterized in that, Includes host computer, current sensor, position sensor and joint module; The host computer is connected to the position sensor, the joint module, and the current sensor respectively. The position sensor is used to upload the position data of the leg structure to the host computer, and the current sensor is used to detect the working current data and feed it back to the host computer. The host computer controls the joint module to move to the target position based on the position data and the working current data.
9. The control system for a parallel robot leg structure with force feedback according to claim 8, characterized in that, It also includes a communication module, a data processing module, and a pressure sensor; The communication module is connected to the host computer, the data processing module is connected to the communication module, and the communication module is connected to the pressure sensor. When an external input command is received, it can be transmitted to the host computer through the communication module. The host computer controls the joint module to move according to the external input command. The pressure sensor can detect the plantar pressure of the leg structure in real time and feed the pressure value back to the data processing module. The data processing module can analyze and confirm the working state of the plantar surface and convert it into the motion data of the joint module, and feed it back to the host computer through the communication module to form a closed-loop control.
10. The control system for a parallel robot leg structure with force feedback according to claim 8, characterized in that, The joint module is connected to a position sensor and a current sensor respectively, and the motion data of the joint module can be fed back to the host computer through the position sensor and the current sensor.