93 results about "Foot type" patented technology

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 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 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.

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 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 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).

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.

The utility model discloses a self-adaptive insole suitable for different foot types. The self-adaptive insole comprises an insole main body, a wrapping structure and a stress dispersion part, the wrapping structure is arranged on the side of the insole body and used for increasing the contact area of a foot and the insole, and the stress dispersing part is used for dispersing extrusion force generated by the foot to the insole and comprises a slotting piece arranged on the back face of the insole body. A supporting piece used for increasing the friction force between the insole body and the shoe cavity wall is arranged on the back face of the insole body and located on the side of the slotting piece, and a springback reinforcing piece is arranged on the back face of the insole body and located on the side of the supporting piece. According to the utility model, the stress dispersion part is arranged on the back surface of the insole main body, so that when different foot types generate different extrusion forces on the insole main body, the slotting piece deforms and disperses the extrusion forces, and the supporting piece is used for increasing the friction force between the insole main body and the shoe cavity wall; therefore, the insole main body is prevented from sliding relative to the shoe cavity while dispersing the extrusion force.

The utility model relates to a foot skeleton, a foot structure, a mechanical leg and a foot type robot, the foot skeleton is provided with at least one deformation arm, and the at least one deformation arm is arranged in at least one of the length direction and the width direction of the foot skeleton. A deformation hole is formed in the side part of the deformation arm, and the axial direction of the deformation hole extends along the width direction of the foot skeleton; the section of the deformation hole in the direction perpendicular to the axial direction of the deformation hole is an annular hole. At least one deformation arm is provided with at least one force detection module. The foot skeleton is further provided with at least one installation part used for being connected with an external component. According to the foot skeleton, the force detection module is arranged at the position of at least one deformation arm, so that the stress path of the foot sole is changed, external force borne by the foot sole can be transmitted to the positions of the force detection modules, the sensing accuracy of the force detection modules is improved, the structural difficulty is simplified, the integration level and the space utilization rate of a foot structure are improved, and the foot skeleton is suitable for being popularized and applied. And the structural volume and the weight are reduced.

The application discloses a wearable foot type structure based on a self-locking tensegrity structure, which comprises a supporting structure, a treading plate, a tensegrity structure and a locking structure, wherein the supporting structure comprises a top plate and a bottom plate below the top plate; the top plate and the bottom plate are rotationally connected through a rotating structure; the treading plate is installed above the rear side of the top plate through an elastic component; the top plate and the bottom plate are flexibly connected through the tensegrity structure; the locking structure comprises four ratchets, four pawls and a first guide wheel, the four ratchets are installed on the rear side of the top plate through rotating shafts respectively; the four pawls are fixed at the bottom of the treading plate respectively and correspond to the four ratchets respectively; the first guide wheel is installed on the front side of the top plate through a rotating shaft; the two ratchets which are symmetrically distributed are transmissionally connected through a first transmission rope, the ratchet located on the front side is connected with the bottom plate through a second transmission rope around the first guide wheel, and the remaining three ratchets are connected with the bottom plate through third transmission ropes respectively. The application has the characteristics of flexibility and stability.

The utility model discloses a tool capable of measuring the height of a foot arch, and relates to the field of human foot shape detection. A tool capable of measuring the height of a foot arch comprises a tool box, a reflecting lens, a side graduated scale and a foot pad seat, the tool box comprises a bottom plate and two side plates arranged oppositely, the bottom ends of the side plates are connected to the two sides of the bottom plate, the reflecting lens is placed in the side plates, the side plates are provided with placing grooves, and the foot pad seat is arranged in the placing grooves. The side graduated scale is placed in the side plate through the containing groove, and the foot pad base is placed above the bottom plate and used for bearing the foot arch of the human body. The utility model provides a tool for measuring the height and the length of an arch without computer measurement.

The utility model provides an orthotic insole which comprises an insole body, a stabilizing pad and an arch pad. The upper surface of the insole body is provided with a downward attaching groove extending from the heel to the front sole, at least one stable pad clamping part protruding upwards is fixed to the attaching groove, and an arch pad inlaying groove is formed in the position, corresponding to the arch, of the attaching groove. The arch gasket is detachably clamped in the arch gasket inlaying groove, and at least one arch gasket clamping part protruding upwards is fixed to the upper surface of the arch gasket; foot arch gasket clamping grooves corresponding to the foot arch gasket clamping parts are formed in the stable gaskets, stable gasket clamping grooves corresponding to the stable gasket clamping parts are further formed in the stable gaskets, and the stable gaskets are detachably clamped in the attaching grooves. Due to the design of the replaceable foot arch pad, one size of insole can be adapted to users with more foot types, the pad can be taken and replaced at any time, the user can select the foot arch pad most conforming to the specification of the user conveniently, and the best foot feeling is achieved.

The application relates to the field of sports shoes, and provides a sports shoe with a thermoplastic protection structure, which comprises a sole, a vamp and a thermoplastic structure, the vamp is connected to the sole, the thermoplastic structure is connected to the vamp and is arranged along the circumferential direction of the vamp, and one side of the thermoplastic structure close to the sole is connected to the sole. The application has the effects of having better protection effect and being convenient for adapting to the foot shapes of different wearers.

The invention provides a shoe cutting piece and a shoe. The shoe cutting piece is characterized by comprising a shoe sole middle part and a shoe sole peripheral part which are connected into a whole, a foot bed is formed in the middle of the sole; the shoe sole periphery extends outwards along the periphery of the shoe sole middle part, the shoe sole periphery is suitable for deformation, and a plurality of intervals are arranged on the shoe sole periphery, so that the shoe sole periphery is suitable for being bent inwards relative to the shoe sole middle part, and the shoe sole periphery and the shoe sole middle part define a space for containing a foot. The required size is adjusted through the deformation of the periphery of the sole so as to adapt to different foot types.

This invention discloses an adjustable shoelace athletic shoe, comprising an outsole, midsole, tongue, upper, and shoelaces. The shoelaces are threaded through the front of the shoe and can adjust the volume of the upper. A lacing assembly is fixed to the tongue. The shoelace length is adjusted according to the foot shape, and excess laces are tightened. "V"-shaped notches are cut on both sides of the upper, and elastic bands are fixed inside the "V"-shaped notches. A quick-release assembly is fixed to one side of the "V"-shaped notch at the toe, and a rope is fixed to one side of the "V"-shaped notch at the heel. The quick-release assembly can tighten the rope; loosening the quick-release assembly and applying force with the foot opens the "V"-shaped notch, allowing the shoe to be removed. The lacing assembly allows for easy tightening of the shoelaces, even force distribution, and good durability. The quick-release assembly adjusts the shoe opening, making it easy to put on and take off, and the operation is convenient.

We provide adjustable footwear that can accommodate differences in foot size. [Solution] The footwear has one or more protrusions 1 and one or more insertion openings 2 such as slits, and the protrusions engage with the insertion openings to form a toe cover, and the size of the footwear can be adjusted by selecting the insertion openings such as slits.