60 results about "Foot type" patented technology

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.

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 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.

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 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 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 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.

This product is a shoe used in classical ballet, and as shown in the reference diagram, it comprises an upper cover, an upper sole, a lower cover, and a lower sole. The product is formed into the shape of a foot by sewing the upper cover and upper sole together, sewing the lower cover and lower sole together, sewing the upper cover and lower cover together, and sewing the upper sole and lower sole together. The upper cover and upper sole occupy approximately the upper half, and the lower cover and lower sole occupy approximately the lower half. The lower sole extends from approximately the middle of the sole of the foot to above the heel. The part for which design registration as a partial design is sought is the surface of the lower sole.

The utility model relates to the technical field of foot type measurement, in particular to a foot type data acquisition device, which comprises a test board and a display screen, a pair of barrier strips, a glass plate, a light source sensor and an image transmission head are fixedly mounted on the test board, a baffle is integrally connected between the two barrier strips, and a positioning strip movably abutted against a heel is fixedly mounted on the baffle. A support movably abutting against the front toes is arranged on the testing table in a sliding and sleeving mode. According to the utility model, the feet extend to the glass plate, so that an operator can check the collapse degree of the foot arch, the distance between the positioning plate I and the positioning plate II can accurately measure the foot width of a tester, and the tester can test more conveniently; the measuring plate is driven by the sleeve to extend to the instep, the height of the measuring plate is adjusted through traction of the traction rod, the height of the arch of a tester can be measured when the measuring plate moves, and the measured glass plate can be wiped through rotation of the cleaning cylinder.

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 deformation hole comprises an opening end which penetrates through the bottom face of the deformation arm. 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 provides a motion analysis method and system based on image and foot bottom contact modeling, comprising the following steps: reconstructing the three-dimensional posture of the subject motion according to the identified 2D key points, and generating a personalized skeletal model matched with the subject according to the height data of the subject; obtaining the foot bottom image of the subject, and automatically generating a plurality of contact spheres in the foot bottom area according to the extracted foot bottom contour shape to approximately represent each area of the foot bottom contact with the ground, the positions and radii of the contact spheres are optimized and set according to the foot type of the subject, and a personalized foot bottom contact model is formed; solving the ground reaction force (GRF) consistent with the dynamics under the given kinematic conditions according to the personalized skeletal model, joint motion data and personalized foot bottom contact model; determining the moving path of the force point of action of the resultant force with time according to the force condition of each contact sphere of the double feet, and calculating the trajectory of the foot bottom pressure center (COP). The application can perform motion analysis based on image and foot bottom contact modeling.

The utility model discloses a buckle type casual shoe, which belongs to the technical field of casual shoes and comprises a shoe body, a tensioning component arranged at the heel of the shoe body, an adjusting component arranged at the outer end of the tensioning component, a driving component arranged inside the adjusting component, and a mounting frame arranged at the outer end of the adjusting component and fixedly mounted inside the heel of the shoe body. A tensioning assembly is arranged in a heel of a shoe body, a first drawstring and a second drawstring are symmetrically arranged on the two sides of the heel of the shoe body to wrap the heel, a driving assembly is arranged at the outer end of the tensioning assembly and meshed with the tensioning assembly, and a rotating rod can drive the driving assembly to rotate by rotating an adjusting assembly. The first pull belt and the second pull belt move in opposite directions, so that the two sides of the heel of the shoe body can be pulled to the middle, the tightness of the heel can be adjusted according to personal requirements and preferences, and the shoe better conforms to the personal foot shape and comfort.

The utility model is applicable to the field of robots, and provides a power-assisted structure of a foot type robot, which comprises a hip joint motor, a thigh mechanism and a shank mechanism, and is characterized in that the hip joint motor is connected with the thigh mechanism through a connector, the thigh mechanism is connected with the shank mechanism, a first cantilever extends below the connector, and a second cantilever extends below the connector. The assisting force of the first group of tension springs and the second group of tension springs acts on the first connecting point and the second connecting point which are spaced from the rotating center by a certain distance to generate torque for offsetting the dead weight and the motion inertia of the foot type robot, so that the purposes of increasing the load capacity of the foot type robot and reducing the energy consumption and the operation time of the foot type robot are achieved.

To solve the problem of tightening of a rubber fitting to the leg of a yourself regardless of the size of the leg such as a person with large legs or a person with small legs, who does not absorb sweat and gets sweaty, and to increase the absorbing power of sweat and smell by reverse knitting of a face yarn and a back yarn.SOLUTION: The cylindrical sock comprises an upper wearing opening 2 which is an opening for wearing, a tiptoe part 4 which covers the tiptoe at the tip of the sock, and a body 3 other than these, wherein the body 3 comprises a heel part 32 for covering the heel and a leg part 31 other than the heel part 32, and the heel part 32 is reinforced more than the leg part 31.SELECTED DRAWING: Figure 1

The utility model discloses an anti-static degradable environment-friendly garden shoe, which belongs to the technical field of garden shoes, and comprises an insole, a shoe body is arranged above the insole, a sole is fixedly connected below the insole, a plurality of air holes are arranged above the shoe body, and the air holes are arranged in a square array. Air holes are formed in the shoe body, the joints of the air holes and the two faces of the shoe body are in arc design, a limiting block is connected to the bottom of the shoe body, the shoe body is connected with the insole in an embedded mode through the limiting block, an anti-skid groove is formed in the lower portion of the sole, a groove is formed in the middle of the sole, and fixing blocks are connected to the two sides of the insole in an embedded mode. According to the garden shoe, the position of the retaining ring can be adjusted so that the retaining ring can adapt to feet of different sizes, a wearer feels more comfortable, charges of the feet can be guided to the ground, the electrostatic phenomenon of the wearer is prevented, the wearing experience of the wearer is improved, meanwhile, the shoe can be degraded, pollution of the garden shoe to the environment is reduced, and the environment is protected. The natural environment is protected.

The invention relates to the technical field of textile manufacturing, and particularly discloses customized silk stockings adaptive to various specific foot types and a preparation process of the customized silk stockings. The silk stocking toe main body is formed by connecting at least three independent toe sleeve parts through a wave-shaped elastic connecting bridge, and the fiber fineness and the weaving density of the silk stocking toe main body are gradually reduced from the root part to the toe tip in a gradient manner. The sock toe main body is formed by weaving composite functional yarns containing phase-change materials, temperature-sensitive gel and plant functional fibers. The preparation process comprises the following steps: driving the sock toe structure parameterization design based on multi-mode foot type data, carrying out differential plasma pretreatment on yarns according to foot pressure data, executing weaving of an integrated waveform structure and gradient characteristics, carrying out elastic composite finishing, and implementing zoning of the sock toe and the sock body and gradient steam setting in the sock toe area. The silk stocking structure can be precisely matched with biomechanical characteristics of various foot types, closed-loop control from design to production is achieved through the preparation method of the silk stocking structure, and consistency and adaptability of customized products are guaranteed.