201 results about "Foot type" patented technology

The invention relates to a torque control foot type robot with a rotatable waist and a control method of the torque control foot type robot. The control method comprises the following steps that an initial gait data set of the foot type robot is obtained; a simulation learning framework based on an asymmetric act-critic structure is constructed; performing iterative training on a strategy based on the simulation reward and the task reward by utilizing the simulation learning framework to obtain a gait data set after waist self-adaptive training; based on the gait data set after waist self-adaptive training, motor parameters and environment parameters of the foot type robot are trained through course learning, and a final gait data set is obtained; based on the final gait data set, the waist of the foot type robot is made to rotate by controlling the output torque of a waist motor, and whole-body control over the foot type robot is achieved. Compared with the prior art, the method has the advantages of low control complexity, high steering capability, good scene adaptability and the like.

The invention belongs to the technical field of foot action mechanics. The invention discloses a method for constructing a foot-ground contact model of a foot-type robot applied to muddy terrains, which can improve the movement stability of the foot-type robot under the muddy terrains, and specifically comprises the following steps of: firstly, connecting a Burgers model, a nonlinear viscoplasticity model and a nonlinear spring model in series according to the viscoplasticity, viscoelasticity, elasticity and plastic deformation characteristics of the muddy terrains; a discrete element model describing the deformation characteristics is obtained. Then, based on the Mohr-Coulomb theory in soil mechanics, considering the influence of the soil bulk density, the water content and the clay content change of the mud land on the soil cohesion from the perspective of soil mechanics, and proposing and establishing a relational expression between the soil bulk density, the water content and the clay content change and the viscosity coefficient in the mud land discrete element model; and finally, according to the magnitude and the change trend of the normal force and the tangential force of the foot end, the foot-ground contact process is divided into three stages of foot falling, foot lifting and separation, and the transition process from foot falling to foot lifting is set as an independent stage. Wherein the foot falling stage and the foot lifting stage are further subdivided into an elastic deformation stage and a plastic deformation stage according to the deformation form of the mud land. In different stages, models describing corresponding characteristics in the muddy ground discrete element model are applied to construct a foot ground contact model. According to the method, the modeling precision of the foot-ground contact model of the muddy terrain can be improved, so that the foot type robot has higher adaptability under the muddy terrain.

The invention provides a dry adhesion foot type climbing robot based on flexible foot ends and a climbing method thereof.The dry adhesion foot type climbing robot comprises a trunk part and four climbing foot assemblies symmetrically installed on the side wall of the trunk part, and each climbing foot assembly is composed of a plurality of connecting rods, a servo motor, a linear motor, a hard plastic thin plate, a sponge pad, nanometer micro suction glue and a fixing block. The trunk part comprises an upper plate, a lower plate and a trunk servo motor, and the climbing method of the robot comprises the steps that the linear motors apply or remove pre-pressure through sponge pads, the legs of the robot complete adhesion and desorption movement through foot end tracks, and corresponding climbing actions are completed according to the mass center track of the robot and corresponding movement gaits. By means of the flexible foot ends and the dry adhesion technology, the robot can stably climb on vertical and inverted wall surfaces, the robot is suitable for operation requirements in various complex environments, and an efficient and reliable solution is provided for the field of high-altitude operation and the like.

The invention discloses an AI foot shoe tree model construction system based on image reconstruction and parameterization, which comprises a multi-modal medical image fusion subsystem, a dynamic mechanical parameter adaptive subsystem, an AI feature enhancement subsystem, an intelligent parameterization driving subsystem and a real-time comfort simulation subsystem, the subsystems cooperatively work through data streams and interaction relations, and high-precision feature extraction of the extreme foot shape, individual specificity comfort simulation and rapid construction of a shoe tree model are achieved. By means of the multi-mode medical image fusion technology, low-dose CT images and optical scanning data are organically combined, the three-dimensional foot model containing skeleton and soft tissue layering is constructed, the problem that the robustness of extreme foot shape feature extraction is insufficient is solved, and the model construction precision is improved.

The invention provides a motion control method and device of a foot type robot, equipment and a medium. The method comprises the steps that state information, coding information and historical actions of the foot type robot at the previous moment and first sensing information at the current moment are obtained; inputting the state information of the previous moment, the coding information and the historical actions into a world model to obtain the state information of the current moment output by the world model; inputting the state information at the current moment and the first sensing information into a motion strategy model to obtain a target action at the current moment output by the motion strategy model; and controlling the movement of the foot type robot according to the target action at the current moment. Any terrain environment can be accurately sensed, so that the stability of the foot type robot in the movement process is ensured, the problems of falling or movement faults and the like are avoided, and the movement control effect of the foot type robot is improved.

The invention relates to the technical field of e-commerce, in particular to an e-commerce platform management method suitable for children's shoes and related equipment, comprising the following steps: extracting contour and curvature features through foot images, classifying foot types and evaluating foot arch fitness, combining shoe style structure data and user foot matching degree, calculating fitness score, and calculating the fitness score; and evaluating inventory risks, calculating recommendation degree scores, adjusting display priorities, and generating a recommended commodity list. According to the method, accurate shoe style matching is achieved by analyzing the user foot image and extracting key features in combination with the foot arch curvature, the matching degree of the user foot contour and the shoe style design is evaluated, the comfort and adaptability are ensured, the commodity refunding and changing problems are effectively reduced through structural adaptation degree scoring, the commodity warehousing time and the warehousing period are combined, the inventory risk is recognized, and the user experience is improved. And timely inventory adjustment is supported, overstock of unsalable commodities is reduced, inventory management is optimized, and platform operation efficiency and user shopping experience are improved.

The invention relates to a control method for dynamically optimizing contact force distribution of a foot-type robot, belongs to the technical field of foot-type robots, and solves the problem that the foot end is easy to sink when the foot-type robot advances in a soft terrain in the prior art. The method comprises the following steps: acquiring real-time ground counter-acting force of each foot of the foot robot in a current gait cycle support phase and joint control information of each foot in a previous gait cycle support phase; based on the joint control information of each foot in the previous gait cycle support phase and the standard ground reaction force time curve, obtaining an expected ground reaction force time curve of each foot in the current gait cycle support phase; based on the expected ground reaction force time curve of each foot in the current gait cycle supporting phase and the corresponding real-time ground reaction force, a PID controller is used for obtaining the control torque of each foot at each moment, the control torque is applied to each joint motor of each foot, and the contact force distribution of each foot is optimized. The walking stability of the foot type robot in the unstructured terrain is achieved.

The invention relates to the technical field of medical rehabilitation instruments, in particular to an intelligent digital modularization implementation method for customized orthopedic insoles. The three-dimensional shape and pressure distribution information of the foot of a patient are collected, an insole template is prefabricated according to different race foot types and special diseases, correction requirements are determined through anatomical feature point alignment and gait and arch data analysis after data are imported, and a personalized adjustment mode is realized by means of various adjustable modules such as thickness, outer side heightening and forefoot lengthening. Finely customizing the insole by matching with a sole imprinting mode; a display module library is divided according to forefoot, middle foot and rear foot areas, and selected modules are automatically loaded to corresponding areas of the insoles; by means of the digital technology and the modular design, the customization efficiency, precision and adaptability of the orthopedic insole are comprehensively improved, a precise and personalized foot supporting and correcting scheme is provided for patients suffering from foot deformity, sports injuries and various foot discomfort, and development of the foot health care technology is powerfully promoted.

The invention relates to the field of foot type robot control, in particular to a hydraulic foot type robot jumping control method and system based on reinforcement learning, and the method comprises the steps: building a hydraulic foot type robot bottom layer control framework; determining an action space and an observation space, and constructing a reinforcement learning optimization control model; determining a reward function and a domain randomization parameter, and training the reinforcement learning model in a training environment until convergence; and deploying the trained strategy network model to a robot prototype, and optimizing control parameters in real time. According to the embodiment of the invention, the method achieves the dynamic optimization of a plurality of control parameters with a coupling relation through the construction of the method, achieves the improvement of the tracking precision of the jumping height, and improves the landing flexibility and control robustness of a foot end.

The invention provides a full-body control method for a foot-type robot and the foot-type robot, and the method comprises the steps: obtaining a planned path and a current state of the foot-type robot; based on the planned path and the current state, constructing constraint conditions by using the first task, and constructing a quadratic programming problem by using the second task and the weight coefficient thereof; the quadratic programming problem is solved, and a control instruction of the foot type robot is obtained; and performing whole-body control on the foot-type robot based on the control instruction. According to the scheme, the task priority can be dynamically adjusted through weight distribution, and the flexibility of the whole-body control method for the foot-type robot can be improved.

According to the warm-keeping shoe convenient to wear, the vamp is composed of the left vamp and the right vamp, the integrity is good, durability and attractiveness are improved, the shape can be kept, and the warm-keeping shoe is attached to the foot. The elastic piece at the upper end of the front side of the vamp can adjust the size of a welt, people with different foot types can conveniently wear the shoe, the left vamp and the right vamp are separately arranged and correspond to the elastic piece in deformation, and the foot can easily enter the shoe. The interlayer cavity in the vamp can hide the elastic piece, so that the shoe is more attractive, the external influence is reduced, the elastic piece is protected, and the structural strength of the shoe is enhanced. The fluff warm-keeping layer on the inner side face of the vamp is good in heat preservation performance, forms an air heat insulation layer and is durable in heat preservation. The fluff is soft and comfortable, does not press feet, relieves fatigue, is good in air permeability, keeps the interior of the shoe dry and comfortable, and reduces peculiar smell. The design pays attention to functionality, meanwhile, the attractiveness and practicability are considered, and the shoes which are convenient to wear, warm and comfortable are provided for consumers.

This invention relates to the field of three-dimensional parametric modeling and precise measurement of the foot, and discloses a method and system for measuring and extracting foot parameters based on a parametric model. The method includes: acquiring foot depth and color images from multiple perspectives and calibrating the camera; reconstructing multi-view point clouds and fusing them into a complete point cloud, converting it into a triangular mesh model; achieving mesh standardization through NICP and ARAP algorithms, and constructing a measurement mapping matrix by combining local extremum detection; extracting principal components of adolescent foot types based on PCA and constructing a parametric model; and employing a multi-head attention network that integrates geometric priors to output foot anthropometric indicators end-to-end from single-view color images. This invention is based on adolescent data modeling, adaptable to both adolescent and unhealthy foot types, with small measurement errors, high batch measurement efficiency, and low hardware costs. It can support adolescent foot health assessment and personalized footwear customization, and has significant practical applications.

The present invention discloses a dynamic three-dimensional foot scanning method, which collects foot photo image data in three directions through cameras set at three positions below and on both sides of the foot, and then obtains a three-dimensional foot model through computer algorithm calculation. The method is characterized in that when collecting data, the foot and the three cameras are controlled to realize relative movement along the front-back direction, and multiple groups of camera data are collected at multiple different positions, and the three-dimensional foot model is calculated based on the multiple groups of camera data. The present invention can realize a higher-precision scan of the foot based on a low-cost camera data collection method, and at the same time greatly reduces the accuracy requirements for the foot placement position, can better meet the scanning accuracy requirements of special foot types, and has the characteristics of convenient and fast operation.

The utility model relates to the technical field of foot-type robots, in particular to a foot-type robot anti-skid sole which comprises a base layer and a sole mounting seat, the side face of the base layer is of an arc-shaped or curved-surface structure, the section of the base layer is a fan-shaped cylindrical body, a lining plate consistent with the base layer in curvature is embedded in the base layer, and replaceable anti-skid nails are supported by the embedded lining plate. By combining the damping holes and the buckle limiting structure, the problems that traditional sole road holding force is insufficient, anti-skid nails are prone to falling off and impact resistance is poor are solved, and the anti-skid shoe is suitable for stable movement of robots under complex terrains.

The application relates to a single-leg mechanism of a foot-type robot with high jumping ability, which comprises a thigh assembly, a shank assembly, a foot plate, a shank driving device, and a foot plate driving device. The first end of the shank assembly is hinged to the second end of the thigh assembly; the foot plate is hinged to the second end of the shank assembly; the shank driving device comprises a shank driver arranged on the thigh assembly and a stroke amplification device driven by the output end of the shank driver; the output end of the stroke amplification device is hinged to the shank and amplifies the displacement stroke of the output end of the shank driver; the foot plate driving device comprises a motor arranged on the thigh assembly, a driving energy storage device driven by the output shaft of the motor, and a foot plate linkage assembly connected between the output end of the driving energy storage device and the foot plate and keeping the rotation angle between the foot plate and the ground when the shank assembly and the thigh assembly rotate. The shank assembly and the foot plate of the robot are designed to be light in weight, so that the robot can realize high gravity center arrangement, reduce the inertia of the shank assembly part of the robot, and greatly improve the jumping height of the robot.

The invention relates to the technical field of foot three-dimensional parameterized modeling and accurate measurement, and discloses a foot parameter measurement and extraction method and system based on a parameterized model.The method comprises the steps that foot depth and color images are collected in a multi-view mode, and a camera is calibrated; multi-view point clouds are reconstructed and fused into complete point clouds, and the complete point clouds are converted into a triangular mesh model; realizing grid standardization through NICP and ARAP algorithms, and constructing a measurement mapping matrix in combination with local extremum detection; extracting a teenager foot type principal component based on PCA, and constructing a parameterized model; a multi-head attention network fused with geometric prior is adopted, and foot anthropometry indexes are output from the end to the end of a single-view-angle color image. The method is based on teenager data modeling, adapts to teenager foot types and non-healthy foot types, is small in measurement error, high in batch measurement efficiency and low in hardware cost, can support teenager foot health assessment and personalized footwear customization, and has remarkable practicability.

The utility model belongs to the technical field of sneakers, and particularly relates to a sneaker with good wrapping performance, which is characterized by comprising a vamp, the vamp comprises a wrapping layer and a supporting layer arranged on the outer side of the wrapping layer, elastic supporting pieces are symmetrically arranged on two sides of the vamp, the supporting pieces are arranged on the surface of the supporting layer, and the elastic supporting pieces are arranged on the surface of the supporting layer. The top ends of the elastic supporting pieces on the two sides are connected through an adjusting device. According to the sneaker, the wrapping performance of the sneaker can be adjusted according to different foot types and sports requirements through the design of the elastic supporting pieces on the two sides of the vamp and the adjustable elastic bands. When high-intensity exercise is needed, the adjusting rope can be tightened to enhance wrapping performance, better supporting and protection are provided for the feet, and sprain and sliding are prevented. When the shoe is worn in daily life or needs to be loosened, the adjusting rope can be loosened, and the comfort degree and the foot fitting performance of the vamp are kept.

The embodiment of the invention provides a movement control method for a foot type robot. The movement control method is used for controlling the foot type robot to stably and accurately move in diversified terrains. The foot-type robot is loaded with a depth camera and an inertial measurement unit IMU, and the movement control method comprises the steps that in the walking process of the foot-type robot, point cloud data, IMU attitude data, remote control instruction data and motor state data collected by the depth camera are obtained; generating elevation map data based on the point cloud data and the IMU attitude data; inputting the elevation map data, the remote control instruction data, the IMU attitude data and the motor state data into a pre-trained reinforcement learning model to generate a motor control instruction; the reinforcement learning model is obtained by configuring various terrain scenes in a simulation training environment and training by adopting a priority sampling strategy; according to the priority sampling strategy, the sampling frequencies of different learning action sequences are determined according to the difficulty priorities of the different learning action sequences; and the motor control instruction is issued to a motor control system of the foot type robot, and the foot type robot is driven to execute corresponding actions.

The production of custom-made shoes of a variety of types, each with a shape that corresponds to a corresponding foot of a variety of wearers with different shapes, and which can offer a similar feel, is made possible by uppers of the same dimensions. A shaft 20 comprises a first section A1 and a second section A2 with a higher extensibility than the first section A1. The first section A1 is provided on at least one shaft body 21 and the second section A2 is provided on at least one shaft base section 22.

The invention relates to the technical field of physiotherapy equipment, in particular to a terahertz wave-based health-preserving foot heat instrument, which comprises a foot heat instrument main body, a physiotherapy plate is arranged on the foot heat instrument main body, two receiving plates are arranged on the physiotherapy plate, a terahertz wave emitter is arranged in the foot heat instrument main body, a resonance shell is arranged on the terahertz wave emitter, and the resonance shell is connected with the terahertz wave emitter. The top end of the resonance shell is fixed to the bottom face of the physical therapy plate, the two receiving plates are both located over the resonance shell and correspond to different areas of the foot through a first through hole, a second through hole, a third through hole and corresponding memory metal wires in the self-adaption mechanism, adjustment can be conducted according to different foot types, it is ensured that terahertz waves evenly act on the foot of a user, and the user experience is improved. And the equipment is wider in applicable crowd. And a first hose, a second hose, a third hose and corresponding silicon zone plates are designed in the energy wave enhancing mechanism, so that the penetrating power of terahertz waves can be greatly enhanced, and the physiotherapy effect is improved.

The utility model discloses a foot massager which comprises a foot bottom plate, a balancing weight is arranged in the foot bottom plate, a plurality of first massage balls are evenly distributed on the foot bottom plate, the first massage balls can roll, most of the first massage balls are located in the foot bottom plate, a plurality of elastic foot hooping rods are arranged on the edges of the two sides of the upper portion of the foot bottom plate, and ankle intervals are formed on the rear portions of the elastic foot hooping rods. And a plurality of rolling massage balls II penetrate through the elastic leg hooping rod. And the elastic hoop leg rod is a metal rod. The elastic hooping rod hoops the instep and the rear portion of the foot from the two sides. The first massage balls and the second massage balls are the same in size. According to the foot massager, the human engineering design fitting the foot shape is adopted, the foot can be elastically massaged in a wrapping mode, the pressure is enough and comfortable, the massage effect is good, the structure is simple, electricity is not needed, the manufacturing cost is low, and the foot massager has high practical value and popularization value.

It is possible to offer a last that is simple and inexpensive, tailored to the foot shape and wishes of each customer. A strip L comprises a strip body 10 with an outer surface shape that corresponds to a specified standard foot model, and with an additional part 20 that changes the outer surface shape of the strip L to a shape that differs from the shape of the standard foot model by attaching the additional part 20 to the strip 10.

The present invention provides footwear. The aim is to provide footwear (100) that offers an attractive appearance while maintaining user comfort. It is particularly advantageous to offer a thinner shoe (100) that retains the comfort of a thicker shoe. The shoe (100) comprises a fastening system for securing it to the user's foot and a sole that conforms to the foot. The sole has a heel support area (20) and a forefoot support area (30). The sole (1) has a raised protrusion (22) that forms the upper surface (2) in a first portion of the heel support area (20).

The utility model provides a joint hinging structure of a foot type robot and the foot type robot, the joint hinging structure of the foot type robot comprises a thigh assembly which is provided with a first mounting groove and a second mounting groove; the first bearing is mounted in the first mounting groove; the second bearing is mounted in the second mounting groove; the shank assembly is arranged between the first bearing and the second bearing; the rotating shaft assembly is provided with a first pressing part and a second pressing part. According to the joint hinging structure of the foot type robot, the inner ring of the first bearing, the inner ring of the second bearing and the shank assembly are clamped through the rotating shaft assembly, so that the rotating shaft assembly, the inner ring of the first bearing, the inner ring of the second bearing and the shank assembly form a whole; the first bearing and the second bearing can reduce shaking of the rotating shaft assembly and the shank assembly, bearings do not need to be arranged between the shank assembly and the rotating shaft assembly, the number of parts is reduced, cost is reduced, and the structure is simplified.

The invention relates to the technical field of running shoes, and discloses a running shoe with a physical foaming spherical sole, which comprises a sole, a midsole, a vamp, a tongue, a shoelace and a heel, a tightness adjusting assembly is arranged on the outer wall of the heel, the tightness adjusting assembly comprises a fixing sleeve, one side of the fixing sleeve is fixedly connected to the outer wall of the heel, and the other side of the fixing sleeve is fixedly connected to the midsole. A limiting ring is fixedly connected to the interior of the fixing sleeve, the outer wall of the limiting ring is in threaded connection with a threaded cap, through holes are formed in the two sides of the fixing sleeve, fixing lugs are symmetrically and fixedly connected to the outer wall of the heel, and a rope is arranged in the two fixing lugs. By adjusting the wrapping tightness of the heel, the heel is tightly attached to the foot, the attaching degree of the running shoe and the foot is improved, the stability of the heel is enhanced, the ankle sprain risk is reduced, meanwhile, the running shoe can adapt to the heel sizes of different foot types, and the problem that the foot slides or is locally pressed and uncomfortable in the sports process is effectively solved.

The application discloses a kind of foot type foot pressure integrated machine, including base, camera support, pressure sensing sheet, data acquisition and analysis module, the upper surface of the base is provided with an installation groove, the installation groove is set in the middle position of the base, the camera support is provided with multiple, multiple camera support is set around the installation groove side, scanning camera is installed on the camera support, the pressure sensing sheet is set in the installation groove, the data acquisition and analysis module is set in the base, the pressure sensing sheet is connected with the data acquisition and analysis module, the scanning camera is used to scan foot type, the pressure sensing sheet is used to collect foot pressure data and transmit to data acquisition and analysis module.The foot type foot pressure integrated machine can simultaneously collect foot type, foot pressure, and can automatically adjust the height and position of camera support according to different sizes of foot type, improve the accuracy of shooting foot type.

To provide a shoehorn for shaping shoes, which has a structure that can be easily attached only when in use and easily removed when not needed, can smoothly guide the heel of the foot to the heel part of the shoe, and can shape the shape of the shoe by fitting and protecting the shape of the foot without getting in the way even when attached to the shoe. [Solution] A shoehorn (1) for guiding the heel of the foot into footwear such as sneakers or athletic shoes, comprising a concave heel recess (2) that guides and protects the heel of the foot, and adhesive means (5) on the back side of heel recess (2) for attaching and detaching to the heel of the footwear, such as adhesive tape or adhesive, with heel recess (2) positioned almost vertically along the heel of the footwear and attached detachably by adhesive means (5).

The utility model discloses an inflatable casual shoe with an adjustable vamp, which comprises a sole and a vamp, the vamp comprises a lining and a vamp air bag, the vamp air bag is arranged on the inner side of the lining, and at least the matching part of the lining and the vamp air bag is made of elastic materials. The vamp air bag is used for being inflated with air to expand in the direction of the inner cavity of the shoe and driving the lining to be contracted towards the foot. The shoe is provided with the vamp air bag, the vamp air bag is in a sheet shape, the local size and shape of the shoe cavity are adjusted by inflating a proper amount of air into the vamp air bag, the effect of being matched with the foot is achieved, and the problem that certain deviation exists between casual shoes of standard sizes produced in a large scale and the foot shapes of different people is solved.

The invention relates to the technical field of shoe customization, in particular to a shoe customization system based on model learning. The system comprises a model friction unit, a weighted prediction unit, a bending crack unit and a customized boot unit. The crack prediction module predicts the bending points of the bottom of the shoe by using the shoe neural network model according to the average bending point of the surface of the shoe, the average bending degree of the bottom of the shoe and the acquired foot type data of the user, and connects the predicted bending points of the bottom of the shoe into a line by using a linear interpolation method. The shoe bottom crack probability is predicted according to the line and the obtained foot type data of the user, the shoe sole crack area is judged according to the predicted shoe bottom crack probability, the shoe bottom crack area can be predicted by analyzing the foot type data of the user, a more durable material can be used in a high crack risk area, and the user experience is improved. And lighter materials are used in the low-risk area, so that the shoe replacement frequency of a user is reduced, the maintenance cost of the shoe is reduced, and the overall performance of the shoe is improved.

1. The name of the design product: telescopic legs (L type). 2. The use of the design product: hollowed-out cabinet, bed support. 3. The design points of the design product: L-shaped square piece. 4. The picture or photo that best indicates the design points: front view.