420 results about "Large legs" patented technology

The present invention relates to the technical field of humanoid robots. Disclosed are a leg power structure for a humanoid robot and a humanoid robot. The leg power structure for a humanoid robot of the present invention comprises a stride driving unit, thigh body assemblies, shank body assemblies and foot assemblies, which are arranged on the waist of a humanoid robot and are connected in sequence, wherein the striding driving unit is configured to drive the whole leg power structure to swing forward and backward; each thigh body assembly comprises a first thigh body and a second thigh body; each shank body assembly comprises a shank body; each foot assembly comprises a foot support member; hip joint driving units are provided on the upper portions of the first thigh bodies so as to drive the whole leg power structure to swing to the left and right; and a first driving unit is provided between each first thigh body and the corresponding second thigh body, so as to realize relative circumferential rotation between the first thigh body and the second thigh body. The whole leg power structure of the present invention has a rational design, is compact, and better meets the requirements of the humanoid robot for various motion postures.

The invention belongs to the technical field of medical instruments, and discloses an intelligent artificial limb which is characterized in that a swing hydraulic cylinder is arranged at the bottom of a joint head, a shank support is connected with a rotating shaft of the swing hydraulic cylinder and can rotate around the rotating shaft, an output shaft of a motor is connected with a valve rod of a flow valve, and a valve element of the flow valve is connected with an oil way of the swing hydraulic cylinder; a rotating shaft of the angle sensor is connected with the rotating shaft; the hydraulic resistance is adjusted through a motor, and the performance of the intelligent artificial limb in the aspects of safety, flexibility and movement precision is remarkably improved through accurate sensor feedback and an intelligent control system. The invention further discloses a control method of the intelligent artificial limb, the controller calculates the dip angle value of the thigh according to the value of the angle signal and the value of the dip angle signal, and a plurality of walking modes are preset in the controller; according to the invention, the angle and inclination angle signals are collected in real time, and the hydraulic resistance of the knee joint is intelligently adjusted according to multiple preset walking modes, so that the walking experience and safety in different motion scenes are optimized.

The invention discloses a double-clutch variable-stiffness knee joint exoskeleton, and relates to the technical field of wearable lower limb exoskeletons.The double-clutch variable-stiffness knee joint exoskeleton comprises a gait sensing module arranged outside and a limb connecting arm module used for being connected with a human body, and an energy storage module is installed on one side of the limb connecting arm module; a sensor module is mounted on the other side of the limb connecting arm module; the limb connecting arm module comprises a limb connecting arm assembly I used for being connected with the thigh of the human body and a limb connecting arm assembly II used for being connected with the shank of the human body, the limb connecting arm assembly I and the limb connecting arm assembly II are each provided with a clutch unit, and the core speed increaser is installed between the limb connecting arm assembly I and the limb connecting arm assembly II. The energy storage module and the sensor module are arranged on the two sides of the core speed increaser, and the core speed increaser is connected with the energy storage module. The device has the advantages of compact structure, variable rigidity bandwidth and good motion adaptability, can realize high energy recovery efficiency in a multi-gait mode, and reduces the metabolic consumption of a human body.

The present invention provides a dance leg-kicking training device and a training method. The device includes a support frame, a rolling member, a traction rope, a leg fixing member, a driving mechanism and a sensor assembly. The rolling member is arranged on the support frame. The first end of the traction rope is wound around the rolling member, and its second end is connected to the leg fixing member. The driving mechanism is arranged on the support frame and connected to the rolling member, and is used for driving the rolling member to roll, so as to contract or extend the traction rope, and further lift or lower the leg. The sensor assembly is arranged at a relative interval with the support frame and electrically connected to the driving mechanism, and is used for controlling the driving mechanism to be in a static state when the leg kicks to a preset angle, so that the leg can stay at the preset angle, which can relax the muscle tissue of the thigh root and achieve the training effect of making the legs slender and straight. The present invention standardizes the action requirements and training skills of ground leg-kicking training through the dance leg-kicking training device, and improves the safety and autonomous training efficiency of leg-kicking training.

An exoskeleton system comprising a leg actuator unit that is configured to be coupled to a leg of a user. The leg actuator unit includes: an upper arm and a lower arm that are rotatably coupled via a rotatable joint, the rotatable joint configured to be positioned at a knee of the user with the upper arm coupled about an upper-leg portion of the user above the knee and with the lower arm coupled about a lower-leg portion of the user below the knee. The upper arm is configured to be coupled to the upper-leg portion above the knee via a first set of couplers that includes a first upper-leg coupler, the lower arm is configured to be coupled to the lower-leg portion below the knee via a second set of couplers that includes one or more lower-leg couplers associated with a lower-leg brace, and an actuator extends between the upper arm and lower arm, the actuator configurable to move the upper arm and lower arm.

An exoskeleton system comprising at least one leg actuator unit configured to be coupled to leg of a user, the leg actuator unit including: an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee, a leg-actuator-unit user interface comprising a plurality of input and feedback elements, and an actuator that extends between the upper arm and lower arms.

The invention relates to the technical field of humanoid robots, and particularly discloses a robot leg mechanism which comprises thighs, shanks, feet, adjusting driving parts and transmission parts. Wherein the shank is rotationally connected with the thigh, and a transmission channel is formed in the shank; the feet are rotationally connected to one ends of the shanks away from the thighs; the adjusting driving piece is arranged in the transmission channel; the transmission part penetrates through the transmission channel and extends in the same direction as the shank, one end of the transmission part is in transmission connection with the output end of the adjusting driving part, the other end of the transmission part is rotationally connected with the foot, and the adjusting driving part drives the transmission part to move so as to drive the foot and the shank to rotate relatively. According to the arrangement, the number of parts is greatly reduced, the assembling procedure is saved, and the assembling efficiency is improved; meanwhile, as the robot needs to serve as a supporting structure, the structural strength is large, the transmission part is arranged in the transmission channel, even if the robot falls down, the shanks cannot deform, and the possibility that the transmission part in the robot is bent is effectively reduced.

The invention discloses an exoskeleton device and a robot with the exoskeleton device, the exoskeleton device comprises a waist module and a plurality of limb modules, and at least one of the plurality of limb modules is connected to the waist module. The waist module is connected with at least one of the limb modules, so that when the exoskeleton device is arranged outside a user, the limb modules can be selectively connected for use according to requirements, when the exoskeleton device is arranged outside the user, the use requirements can be met, the exoskeleton device is simplified, and meanwhile the use efficiency of the exoskeleton device is improved. And the satisfaction degree of using the exoskeleton device by the user can be improved, and the use experience of the user is improved. In addition, in the specific using process, the thigh binding and the shank binding can also achieve modular design so as to be connected to different positions, and therefore the using requirements of different heights can be met.

An exoskeleton is provided and includes a garment to be worn by a user, an exoskeleton interface provided on a backside of the user when wearing the garment, and an exoskeleton mechanism adapted to be connected to the garment via the exoskeleton interface. The exoskeleton mechanism includes an actuator system having a spring-loaded assembly coupled a torso anchor and pivotally coupled to a waist anchor, and a resilient element connected to the casing. The spring-loaded assembly is operable to generate a force upon deformation or deflection of the resilient element. The exoskeleton mechanism also includes actuator links rotatably coupled between the waist anchor and respective thigh anchors. Each actuator link is operatively coupled to and adapted to operate the spring-loaded assembly upon rotation of the casing or the actuator links. The force generated upon operation of the spring-loaded assembly is transferred to the user via the exoskeleton interface and the garment to assist the user in performing a movement.

The utility model discloses an integrated leg support for an automobile seat, which comprises a seat frame, the front part of the seat frame is provided with a first driving mechanism and a supporting framework capable of sliding back and forth, the supporting framework is used for supporting thighs of passengers, and the first driving mechanism is used for driving the supporting framework to slide out of the front part of the seat frame or retract into the seat frame; a second driving mechanism and a shank supporting assembly connected with the supporting framework in an overturning mode are arranged on the front portion of the supporting framework, the shank supporting assembly is used for supporting the shank of the passenger, and the second driving mechanism is used for driving the shank supporting assembly to conduct overturning movement relative to the supporting framework. The seat has the advantages that through the combined design of the thigh support and the shank support, the legs of a passenger are completely supported, and then the riding comfort of the passenger is guaranteed.

The invention relates to the technical field of robots, in particular to a hybrid drive leg device and a humanoid robot. The leg device comprises a thigh assembly and a shank assembly. The thigh assembly comprises a first driving mechanism, a second driving mechanism, a thread shifting device and a pair of first structural plates. The first driving mechanism comprises a first motor, a first conical wheel, a first guide wheel and a first rope. The first motor drives the first conical wheel to rotate and drives the first structural plate to swing. The shank assembly comprises a pair of second structural plates, and the second driving mechanism is used for driving the second structural plates to swing. The thread shifting device drives the first rope to move in the axial direction of the first conical wheel and drives the second rope to move in the axial direction of the second conical wheel, so that the leg device can stably operate under the conditions of different gaits and loads. In addition, the leg device of the scheme comprises the elastic buffer piece and the hydraulic damper, the elastic buffer piece and the hydraulic damper can absorb impact force borne by the leg device in real time in the movement or landing impact process of the leg device, and the overall stability of the leg device is improved.

A foldable electric bed includes pivotally connected front and rear frames, first buttock and back supporting units linked together and slide on the front frame, a first actuator disposed with the first buttock and back supporting units, a bottom frame slidably disposed with the rear frame, second buttock, thigh and lower leg supporting units linked together and disposed with the bottom frame, a quick release connected with the first and second buttock supporting units, and a second actuator disposed with the thigh supporting unit and the bottom frame. When the back supporting unit is driven by the first actuator to swing upwardly, the first and second buttock supporting units, the bottom frame, and the thigh and lower leg supporting units are driven to slide forwards.

The invention discloses a wearable tactile biological gait feedback system and method for a Parkinson's patient, and belongs to the field of human gait rehabilitation, and the system comprises the following modules: a posture sensing module which obtains the information of an accelerometer, a magnetometer and a gyroscope at the positions of two feet by using an inertial sensor IMU bound to the surfaces of the two feet; the data processing module is used for receiving the data information of the posture sensing module, estimating the posture of the two feet, estimating the gait phase of the two feet by using the posture of the two feet, and finally outputting a signal according to a gait feedback stimulation strategy; and the tactile feedback module is used for receiving the stimulation signals of the data processing module and providing vibration stimulation signals at the back and thigh gastrocnemius muscles. According to the wearable tactile biological gait feedback system and method for the Parkinson's patient, related posture data provided by an IMU can be utilized, double-foot posture estimation can be completed through multi-rate multiple-correlation-entropy Kalman filtering, double-foot phases are estimated through a self-adaptive oscillator algorithm, and the wearable tactile biological gait feedback system and method for the Parkinson's patient are obtained. And implementing vibration stimulation based on a set gait feedback strategy.

The low-inertia small robot leg structure comprises a first connecting piece, a second connecting piece and a shank, the first connecting piece is provided with a first joint motor, the first joint motor is connected with the second connecting piece, and the axis of the first joint motor is perpendicular to the axis of the second connecting piece; a second joint motor is arranged on the second connecting piece, and a thigh clamping plate is connected to the second joint motor; a third joint motor is arranged between the thigh clamping plates, the shanks are rotationally arranged between the bottoms of the thigh outer clamping plates and the thigh inner clamping plates to form knee joints, and connecting rods are rotationally connected between the positions, lower than the knee joints, of the shanks and the third joint motor. According to the leg compact structure design suitable for the small robot, the number of transmission mechanisms at the knee joints is reduced, the rotational inertia of the legs of the robot is reduced, the energy consumption intensity is reduced under the condition that the battery energy of the small robot is low, and the standby time of the small robot is prolonged.

A rigid-flexible coupled leg structure of a biped robot comprises a trunk module, a hip joint module, a thigh module, a shank module and a foot module which are sequentially connected from top to bottom. Shock absorbers are connected between the thigh module and the shank module and between the shank module and the foot module. The compact design of the leg structure is realized through the series layout of the motor and the reasonable integration of key parts; meanwhile, a four-connecting-rod driving mechanism is introduced, so that the joint torque transmission efficiency and the overall movement performance are improved; and on the premise of ensuring the light weight of the system, the stability and response capability of the robot in dynamic actions such as walking and take-off are effectively enhanced.

The invention discloses an auxiliary leg stretching instrument for physical education, and particularly relates to the technical field of auxiliary leg stretching instruments, the auxiliary leg stretching instrument comprises a base, two symmetrically distributed pressing assemblies are fixedly mounted on the front side of the middle of the upper end of the base, and clamping assemblies are fixedly mounted on the sides, away from each other, of the outer surfaces of the two pressing assemblies. According to the leg auxiliary stretching instrument for physical education, by arranging the pressing assembly, when the legs are stretched, the shanks and the thighs can be stretched, the stretching degree can be autonomously adjusted according to the actual requirements of a user, in the subsequent stretching process, the shanks and the thighs can be relaxed, and the stretching effect is improved. According to the leg stretching device, the situation that the legs are pulled after being kept in the stretching state for a long time is avoided, meanwhile, through the arranged clamping assembly, the thighs can be stretched in the using process, the popliteal space part can be supported in the stretching process, and therefore the legs are in the bent and relaxed state.

The invention relates to the technical field of robots, and discloses a mechanical leg structure and a robot, and the mechanical leg structure comprises a hip A-axis motor and a hip B-axis motor which are suitable for rotating around an A axis and a B axis respectively; the two-axis motor adapter is connected between the hip A-axis motor and the hip B-axis motor, and the hip A-axis motor and the hip B-axis motor are suitable for rotating around the two-axis motor adapter respectively; the hip B-axis motor structural part is connected with a hip B-axis motor, the hip B-axis motor is suitable for driving the hip B-axis motor structural part to rotate relative to the two-axis motor adapter, and the hip B-axis motor structural part is provided with a thigh hinge part; the thigh structural part is hinged to the thigh hinge part, and the thigh structural part is suitable for rotating around the C axis relative to the hip B-axis motor structural part; and the A shaft, the B shaft and the C shaft are concentric. According to the mechanical leg structure, the mechanical leg structure can freely rotate in multiple directions, interference points are fewer in the rotating process, and a larger rotating angle is achieved.

The invention relates to the technical field of robots, and discloses a mechanical leg assembly and a robot, and the mechanical leg assembly comprises a basic structural part which comprises a cross shaft first hinge part; the hip C-axis motor comprises a cross shaft second hinge part, and the cross shaft second hinge part is arranged on one side of the hip C-axis motor along the axis of the hip C-axis motor; the hip universal joint pin is hinged to the universal joint pin first hinge part and the universal joint pin second hinge part, the hip universal joint pin is suitable for rotating around an A axis relative to the universal joint pin first hinge part and rotating around a B axis relative to the universal joint pin second hinge part, and the A axis is perpendicular to the B axis; the thigh structural part is connected with the hip C-axis motor, the hip C-axis motor is suitable for driving the thigh structural part to rotate around a C axis, the C axis is perpendicular to the A axis and the B axis, and the C axis and the A axis are concentric. According to the mechanical leg assembly, interference points are fewer in the rotating process, and a larger rotating angle is achieved.

The utility model discloses an electric nursing bed board frame which is characterized by comprising a frame, a backrest frame, a thigh support frame and a shank support frame, the frame is formed by splicing a bed head frame and a bed tail frame, the opposite sides of the bed head frame and the bed tail frame are matched to form a seat part, and a sliding groove extending in the front-back direction is formed in the inner wall of the bed head frame. A rolling piece is connected to the tail position of the backrest frame, the rolling piece is arranged in the sliding groove in a matched mode, and a first push rod motor is arranged between the backrest frame and the bed head frame; the head position of the thigh supporting frame is rotationally connected to the side, corresponding to the bed head frame, of the bed tail frame, and a second push rod motor is arranged between the bed tail frame and the thigh supporting frame; the head of the shank supporting frame is rotationally connected to the tail of the thigh supporting frame, and a telescopic rod is arranged between the bed tail frame and the shank supporting frame. According to the utility model, the use comfort of a patient can be obviously improved.

The utility model relates to the technical field of waist stools, and discloses an adjustable waist stool strap structure for infants, which comprises a protective plate, a stool is mounted at the upper part of the front side of the protective plate, a protective strap is connected to the front side of the top of the stool, shoulder straps are mounted on the outer sides of connecting straps, first elastic bands are sewed at the rear parts of the shoulder straps, and a second elastic band is sewed at the rear parts of the first elastic bands. First buckles are mounted at the inner ends of the first elastic bands; the second elastic bands are sewn on the front side and the rear side of the strap, buttons are arranged on the front side and the rear side of the protecting band and the inner sides of the second elastic bands, a first binding band is connected to the lower portion of the left side of the strap, and a second binding band is connected to the lower portion of the right side of the strap. According to the adjustable waist stool strap structure for the infant, the second elastic band is separated from the button, so that the two legs of the infant can be changed into a free moving state, blood circulation of the legs can be improved, and the situation that the blood vessels on the inner sides of the thighs are possibly pressed by a diverging sitting posture is avoided.

The invention provides protective garments tailored for ice hockey players to safeguard critical areas susceptible to blade injuries. The garments include an upper body garment with a collar, left and right sleeves with specific upper arm and forearm portions, and a torso portion, as well as a pair of pants with strategically placed protective elements. Strategically integrated portions of cut-resistant ultra-high-molecular-weight polyethylene (UHMWPE) material are present in the collar, forearm sections, inner thighs, and above the knees on the front of the thighs. Some embodiments also incorporate other fabrics, such as aramid variants, while non-cut-resistant sections may be made from blends like polyester and spandex. The collar may take various forms to provide the wearer with configurable protection, and the pants offer additional features such as Velcro straps for hockey socks and pockets for optional groin cups.

This invention discloses an integrated chair for defecation assistance and pelvic floor muscle training in proctology, comprising a steel pipe support frame and a pelvic floor muscle monitoring device. The pelvic floor muscle monitoring device is fixedly installed inside the steel pipe support frame. Electrode plates are fixedly connected to the side of the pelvic floor muscle monitoring device via cables. A threaded support column is fixedly connected to the front of the steel pipe support frame. A bracket is provided in the middle of the steel pipe support frame. Connecting kits are fixedly connected to both sides of the bracket, and the connecting kits are sleeved on the threaded support column. A fecal storage box is provided below the bracket. A buttock pad is fixedly connected to the top of the bracket via a rubber ring. The buttock pad is hollow inside, and a small vibration motor is fixedly connected inside the buttock pad. By sliding the foot pedal between two front support plates, the foot pedal can be adjusted to a suitable height. The patient can step on the foot pedal, raising both knees and bringing the thighs closer to the abdomen, effectively reducing the anal angle and optimizing the angle between the rectum and anus, making defecation smoother.

The invention relates to a pelvic bone structure, in particular to a compact hydraulic drive waist and hip integrated pelvic bone structure. The problems that an existing humanoid robot driven by hydraulic pressure is complex in system structure, large in part number, large in weight and numerous in oil pipe are solved. A waist joint comprises two waist transmission chains, two waist pitching transmission assemblies and a waist rotation driving part, the two waist transmission chains are vertically installed on a pelvic skeleton, and the waist rotation driving part is installed between the two waist pitching transmission assemblies and engaged with a gear between the two waist pitching transmission assemblies; the two hip joints are mounted on the left side and the right side of the pelvic skeleton; each hip joint comprises a hip yawing transmission chain and a hip side-sway transmission chain, the hip yawing transmission chains are horizontally mounted in the pelvic skeleton, the hip side-sway transmission chains are vertically mounted in the pelvic skeleton, and the hip yawing transmission chains and the hip side-sway transmission chains are connected with one ends of the thigh connecting pieces. The invention is applied to the biped robot.

This invention relates to a hydraulically driven humanoid robot pelvis, within the field of humanoid robots. It addresses the problems of complex structure and large size in existing hip joint pelvic structures. The pelvic support frame integrates printed hydraulic circuits. A lumbar joint base is mounted on one side of the pelvic support frame along its length. Two hip joint mounts are symmetrically mounted on either side of the pelvic support frame along its width, with the axis of the hip joint mounts aligned with the width of the pelvic support frame. The thickness of the pelvic support frame is less than the outer diameter of the hip joint mounts. A lumbar joint is mounted on the lumbar joint base and drives the pelvic skeleton to achieve posture adjustment. Each hip joint mount contains one hip joint, enabling roll and yaw movements. Each hip joint is connected to a thigh, and the pitch movement of the pelvic skeleton is achieved through the drive of a hydraulic cylinder on the thigh. This invention is applicable to robots that need to carry heavy objects or perform tasks requiring great strength.

The invention provides a non-human waist output type exoskeleton transfer robot which comprises a waist module arranged on the waist of a human body, the waist module comprises a driving module and a waist rod, and the driving module is connected with the waist rod; the binding module is connected with the waist module, and the binding module is used for binding the waist module on a human body; the carrying module is connected with the driving module, the carrying module can be used for hanging heavy objects, and the carrying module is driven by the driving module to rotate so as to carry the heavy objects; the upper end of the leg module is connected with the driving module, and the lower end of the leg module makes contact with the front side of the thigh of the human body. The transfer robot is always in the leading position of power output, the waist burden of an operator is effectively relieved, and the risk that the worker suffers from the waist occupational disease is reduced. The transfer robot is light in weight, reliable in structure and efficient in power assisting mode.

The application discloses a kind of leapable wheel-foot mobile robots, belongs to mobile robot technical field, including body and active attitude control system, the two sides of body are equipped with four jumping motors, the output end of jumping motor is connected with adaptive shock absorbing leg, adaptive shock absorbing leg is equipped with travel assembly on the side away from body.The application is coordinated through active attitude control and adaptive shock absorbing leg, can real-time correct attitude in the process of jumping off ground, air adjustment and landing recovery, ensure that wheeled structure lands downward, realize wheel-foot mode stable switching, utilize thigh, lower leg connecting rod and rotating joint cooperation torsional spring, grade absorption impact energy in full stroke, reduce landing impact peak value and assist leg reset, can improve landing stability, the lower leg connecting rod of body same side adaptive shock absorbing leg is fixed in same travel assembly, realize wheel-foot structure and shock absorption system coordination.

A robot includes a torso structure, a head structure, robotic arms, gripper structures, and a chassis driving structure. The torso structure includes a lower leg assembly, a thigh assembly, and a thoracic cavity assembly. A first torso motor, a second torso motor, and a third torso motor enable a multi-joint rotation within a plane formed by a first direction and a second direction. A fourth torso motor drives the thoracic cavity assembly to rotate relative to the thigh assembly around an output shaft of the fourth torso motor within a plane formed by the second direction and a third direction. Two opposite sides of the end of the thoracic cavity assembly facing away from the thigh assembly are provided with the robotic arms respectively, and the gripper structures are securely mounted at tail ends of the robotic arms respectively.

The utility model discloses an embodiment of a humanoid robot, including torso device, the both sides of torso device are equipped with arm device, and the bottom of torso device is equipped with crotch device, and the both sides of crotch device are equipped with leg device, and torso device includes head acquisition control unit, torso support, waist torsion motor module, waist tilting motor module, neck torsion motor module, neck tilting motor module, neck motor mounting bracket, head mounting bracket, waist mounting bracket, and leg device includes thigh fixing piece, small shank fixing piece, knee motor rotating mechanism, first foot drive motor, first leg connecting rod, second foot drive motor, second leg connecting rod, foot palm piece. The utility model discloses compact structure, and the degree of freedom of each joint is high, and transmission efficiency is high, and has promoted the motion efficiency and reliability.

This invention provides a variable stiffness actuator, a knee exoskeleton, and a control method for the variable stiffness actuator, belonging to the field of rehabilitation robot technology. The variable stiffness actuator includes a variable stiffness component, which consists of a zero-length frame hinged four-bar linkage, an elastic link assembly, a stiffness adjustment mechanism, and a T-screw assembly. The input and output disks have coaxial rotation centers. The elastic link assembly includes a linear spring and a Bowden wire. The T-screw assembly is used to change the geometric configuration parameters of the four-bar linkage, achieving stepless adjustment of the stiffness range. The knee exoskeleton includes a rotation drive assembly, a thigh assembly, a lower leg assembly, and the variable stiffness actuator. The control method includes establishing a stiffness model, real-time estimation of human-machine interaction torque, compliant control based on gait phase, and adjustment of the stiffness mode. This invention achieves stepless stiffness reconfiguration over a wide range and structural lightweighting, enabling precise compliant control without the need for torque sensors.

This invention relates to the field of robotics, specifically to a hybrid-driven leg device and a humanoid robot. The leg device includes a thigh assembly and a lower leg assembly. The thigh assembly includes a first drive mechanism, a second drive mechanism, a cable puller, and a pair of structural plates. The first drive mechanism includes a first motor, a first conical wheel, a first guide wheel, and a first rope. The first motor drives the first conical wheel to rotate and causes the first structural plate to swing. The lower leg assembly includes a pair of second structural plates, and the second drive mechanism is used to drive the second structural plates to swing. The cable puller drives the first rope to move axially along the first conical wheel and the second rope to move axially along the second conical wheel, enabling the leg device to operate stably under different states and load conditions. Furthermore, the leg device of this solution includes an elastic buffer and a hydraulic damper, both of which can absorb the impact force received by the leg device in real time during movement or landing impact, improving its overall stability.