546 results about "Large legs" patented technology

The invention discloses a compact humanoid robot leg structure and a robot, and belongs to the technical field of humanoid robots. In order to solve the problems that an existing humanoid robot leg is complex and redundant in structure, low in structure and form bionic degree and the like, the humanoid robot leg which is small in size, modularized, simple and compact in structure and high in structure bionic degree is provided, and the manufacturing difficulty, cost, size and total structure weight of the robot leg are reduced. The leg structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and an ankle-sole module which are sequentially connected, and three-degree-of-freedom movement of a bionic hip joint, three-degree-of-freedom movement of a knee joint and two-degree-of-freedom movement of an ankle joint can be achieved. The method can be used for humanoid robots and biped robots.

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 leg assembly is used for the humanoid robot, the leg assembly comprises a thigh shell, a first driving piece, a shank piece and a first connecting rod, and one end, in the first direction, of the thigh shell is used for being connected with a crotch assembly; at least part of the first driving piece is contained in the thigh shell; the shank part is rotationally connected with one end, far away from the crotch assembly, of the thigh shell in the first direction; the first connecting rod comprises a first end and a second end which are opposite, the first end is connected with the first driving piece, the second end is connected with the shank piece, and the first end is located on the outer side of the second end in the second direction; the first direction is the up-down direction of the humanoid robot, and the second direction is the left-right direction of the humanoid robot. According to the leg assembly, the size of the humanoid robot in the left-right direction can be reduced, the gravity center is not prone to shifting, and the humanoid effect is good.

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 invention discloses a line drive type biped robot leg structure which comprises a thigh support, a knee joint motor is arranged at the lower end of the thigh support, a shank support is connected to an output shaft of the knee joint motor, a foot assembly is movably connected to the lower end of the shank support and comprises a foot fixing piece, and a heel is connected to the rear portion of the foot fixing piece. The heel is connected with a line driving structure, the line driving structure comprises a first ankle joint motor, a second ankle joint motor, a first driving line wheel, a second driving line wheel, a first ankle joint line wheel and a second ankle joint line wheel, and a first transmission line is arranged between the first driving line wheel and the first ankle joint line wheel; a second transmission line is arranged between the second driving line wheel and the second ankle joint line wheel, a first crank swing rod structure is arranged between the first ankle joint line wheel and one side of the heel, and a second crank swing rod structure is arranged between the second ankle joint line wheel and the other side of the heel. The device has the advantages of being simple in structure and good in adaptability.

A trunk-supporting exoskeleton for reducing muscle forces in a wearer's back during forward lumbar flexion comprises a supporting trunk, a first thigh link, a second thigh link, and an actuator, which includes an actuator first element and an actuator second element. When the wearer is in a forward-bent position, the actuator generates a first torque on the actuator first element and a second actuator torque on the actuator second element to generate extension torques between the first and second thigh links and the supporting trunk, thereby resisting bending motion of the supporting trunk in the forward-bent position. When the wearer is not in the forward-bent position, the actuator generates a substantially small first torque and second torque, resulting in small resistance to the movement of the thigh links relative to the supporting trunk during walking.

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.

The frame structure of the humanoid robot comprises a hip assembly, a thigh assembly and a shank assembly, the hip assembly comprises a hip joint Pitch assembly, a hip joint Roll assembly, a hip joint Yaw assembly, a trunk supporting frame and a U-shaped support, and the hip joint Pitch assembly enables a pitch motor to incline by 20 degrees through the trunk supporting frame and then is connected with the U-shaped support; the U-shaped support is rigidly and fixedly connected with the hip joint Yaw assembly through the hip joint Roll assembly, and the thigh assembly is connected with the shank assembly. A crossed roller bearing double-sided fixing structure is arranged at the connecting part of the hip joint Roll assembly and the hip joint Pitch assembly; the hip joint pitch motor and the hip joint roll motor are designed in a coupling mode, the crossed roller bearing is additionally arranged on the output shaft of the hip joint motor, meanwhile, the structural mode that the inner ring and the outer ring are fixed on the four sides is adopted, and the hip joint pitch motor is resistant to impact and overturning moment, easy to install and stable in reliability.

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 discloses an electric thigh support mounting structure which is characterized in that a leg support supporting plate is mounted above a seat basin, and a connecting block is mounted below the leg support supporting plate; a driving motor is mounted below the seat basin, and a screw rod is mounted at the output end of the driving motor in a threaded manner; a sliding strip-shaped groove is formed in the seat basin, and the connecting block penetrates through the sliding strip-shaped groove to be connected with the lead screw. The leg support has the advantages that the driving motor drives the lead screw to rotate to drive the leg support supporting plate to slide back and forth on the seat basin, and therefore automatic unfolding and folding of the leg support are achieved. The leg support supporting plate is assembled on the upper surface of the front portion of the seat basin, it is guaranteed that the leg support supporting plate and the seat cushion share one face sleeve, when the leg support is unfolded for use, the front end of the seat is seamless, comfort is guaranteed, and user experience is improved. According to the invention, the mounting assembly is simplified, and the assembly mode is optimized. Meanwhile, the requirement for the manufacturing process is low, and the weight is reduced.

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 provides a leg-foot device of a biped robot, and relates to the technical field of robots. The invention provides a leg-foot device of a biped robot. The leg-foot device comprises a hip connecting plate, the hip joint driving module is fixed on the hip connecting plate; the foot module can move relative to the hip connecting plate under the driving of the hip joint driving module; the leg module comprises at least two sets of leg connecting rod mechanisms, and each leg connecting rod mechanism comprises a thigh frame, a knee joint, a shank frame and an energy storage and release elastic assembly. The buffering capacity of the leg and foot device is improved through the energy storage and release elastic assembly, energy is stored when the leg and foot device is in the squatting posture, and the leg and foot device exerts force to the ground under the combined action of the energy storage and release elastic assembly and the hip joint driving module when doing explosive movement, so that larger pushing force is provided for explosive movement, and the driving effect of the leg and foot device is improved. Therefore, the explosion capacity is improved.

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.

The embodiment of the invention provides a robot leg transmission structure and a robot, and the robot leg transmission structure comprises a thigh side plate, a shank assembly and a first transmission assembly; the shank assembly is rotationally connected with the thigh side plate; the first transmission assembly comprises a first connecting rod and a first linear motor with a first telescopic rod, the first connecting rod is provided with a first end and a second end which are opposite to each other, and the first end is rotationally connected with the shank assembly; the two opposite ends of the first telescopic rod in the telescopic direction are rotationally connected with the thigh side plate and the second end of the first connecting rod correspondingly. The first connecting rod drives the shank assembly to rotate relative to the thigh side plate towards the side opposite to the advancing direction of the robot, and the force arm of the acting force generated by the first telescopic rod is gradually increased. According to the robot leg transmission structure, portable and efficient walking can be achieved.

The invention discloses a cooling, heat preservation, moisture removal and ventilation method and shoes. The air bag pump is installed on the sole heel, when the whole foot is hot, an air inlet pipe opening of the air bag pump can be arranged outside the shoe to pump cold air into the shoe, and the effects of cooling, moisture removal and ventilation are achieved. When the whole foot is cold, the air inlet pipe opening can be placed in the shoe, or the air inlet pipe opening is connected with another air inlet pipe distributed on the whole vamp, warm air is extracted, air pressure on the instep in the shoe is reduced, the warm air is not prone to escaping from the contact position of the shoe opening, the ankle and the like, and then the warm air is extracted into the shoe sole and circulates in the shoe, especially between the cold sole and the warm instep. And one branch pipe of the air inlet pipe can be led to the shanks, the thighs and the upper body to pump warm air for circulation in the shoes, so that the effects of heat preservation, moisture removal and ventilation are improved. The bottle cap is arranged on the vamp, the bottle cap and the bottle opening are airtight and can preserve heat, the strength and the waterproof area of the shoe are increased, and the waterproof area of the shoe also plays a role in preventing water on the sole from falling on the vamp to soak the vamp after the water flies up along with the movement inertia of a foot, and also plays a role in cooling, moisture removal and ventilation after the cap is loosened and unscrewed.

Rotor (1) of an electrically excited synchronous machine (2) with a rotor body (4) rotatable about a rotor axis (3), the rotor body having several salient poles (5) arranged along a circumferential direction of the rotor (1), each pole pole comprising a pole shaft (6) and a pole shoe (7) arranged at the end of the pole shaft (6), the pole shafts (6) each being enclosed by a single coil (9) of an excitation winding (10) of the rotor (1), the pole shoes (7) each projecting into the adjacent pole slots (12), the pole shoe (7) of each salient pole (5) having a coil support surface (13) towards both pole slots (12) for supporting the respective single coil (9), a closing element (20) being arranged in each of the pole slots (12), which is provided for closing the respective pole slot (12) and is supported on two pole shoe support ramps (17) which are attached to mutually facing pole shoe ends (7e) of adjacent pole shoes (7) are formed, characterized by the fact that The pole shoe support slopes (17) of the respective pole shoe (7) each have an oblique angle (α) to the coil support surface (13), which is in the range between one degree and 45 degrees, in particular between two degrees and 25 degrees.

The multi-stage composite air bag for external counterpulsation comprises a shank air bag and a hip-leg air bag, each of the shank air bag and the hip-leg air bag comprises a wrapping part and an extending part, each wrapping part is provided with an outer bag and a plurality of inner bags, the inner bags are located on the inner sides of the wrapping parts, the outer bags are located on the outer sides of the wrapping parts, and the extending parts are located on the outer sides of the outer bags. The inflation and deflation assembly penetrates through the outer bag through an air hole to be communicated with the inner bag, and the air hole is formed in the outer bag; the shank air bag covers the ankle and the calf, the hip-leg air bag comprises a hip air bag and a leg air bag, the hip air bag covers the hip, and the leg air bag covers the thigh; and the control mechanism controls the air source to inflate and deflate the air bags in sequence. The multiple stages of air bags are matched with the body parts respectively, fitting is tighter, the pressure of the air bags can be sequentially controlled, the wrapping part of the supporting body is arranged to be matched with the human body, fitting with the body shape can be greatly facilitated, then the body is wound through the extending part for wrapping, and wearing is convenient.

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 invention relates to the technical field of humanoid robots, discloses a humanoid robot and solves the problem that the leg distance is too large due to existing coaxial joint layout. In a standing posture, an output flange of the hip pitching joint is obliquely arranged downwards and is fixedly connected with a shell of the leg rolling joint through a rigid connecting piece; the rotating axis of the leg rolling joint is parallel to the advancing direction of the robot; the hip pitching joints and the leg rolling joints are arranged in a staggered manner on a vertical projection plane; on a horizontal projection plane, the projection area of the hip pitching joint at least partially covers the projection area of the leg rolling joint. The positions of the two leg rolling joints are changed, the two leg rolling joints are shifted towards the inner side and the lower side of the body, and the positions, located on the rotating axes of the hip pitching joints, of the rotating shafts of the original leg rolling joints are moved out and moved to the area between the rotating axes of the two hip pitching joints, so that the distance between the two thighs is reduced.

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 discloses an ornithopter capable of ejection take-off and provided with a sweeping-torsion mechanism, and belongs to the technical field of aircrafts, the ornithopter comprises a fuselage skeleton, a left flapping wing, a right flapping wing, a passive torsion mechanism, a sweeping mechanism, an ejection take-off mechanism, a transmission flapping mechanism and a tail vane, the catapult take-off mechanism is arranged in the middle of the robot body and sequentially provided with a hip joint, a thigh, an ankle joint, a shank, a foot and a toe joint from top to bottom, the inner side and the outer side of the hip joint are controlled by a servo motor to rotate relatively, and elastic energy storage torsion springs are arranged at the ankle joint and the toe joint correspondingly. Synchronous pulleys and driving mechanisms thereof are arranged between the outer sides of the hip joints and the outer sides of the ankle joints to control relative rotation between the thighs and the shanks, and energy storage of ejection take-off is carried out. In conclusion, the aircraft can perform ejection take-off flight, and the flapping wings can perform passive torsion and sweeping movement in the flapping process, so that the improvement of the flapping wing lift force and the overall effective load of the aircraft is facilitated.

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.

The invention relates to the field of jumping robots, in particular to a hydraulically-driven two-degree-of-freedom coupling type humanoid-leg jumping robot and a control method thereof. The overall structure of the robot simulating jumping of the human legs is composed of a driving assembly, a thigh assembly and a shank assembly. The designed jumping robot is simplified into an SLIP model, a PID controller is adopted in the jumping process to achieve control over the flying phase of the jumping robot, and a PD controller is adopted in the landing phase for control. The hydraulic cylinders are far away from the legs, so that the hydraulic cylinders are driven to move to the upper body, and the whole robot has better attractiveness. And meanwhile, the lightweight design of the legs is achieved, the inertia of the legs is reduced, and the robot has more stable dynamic performance. And the vertically placed hydraulic cylinder is designed, so that the driving efficiency is further improved, and finally, more efficient bionic jumping movement is realized.

The invention relates to an Informer-based human lower limb gait phase personalized prediction method, and relates to the technical field of exoskeleton robots. The method comprises the following steps: acquiring human lower limb gait motion information through a data acquisition device and forming a data set; training the pre-model; storing the trained pre-model; collecting individual lower limb data of the user; performing personalized model training based on the pre-model; storing the personalized model; acquiring a human lower limb right thigh swing angle through a data acquisition device; and performing model use based on the real-time data of the wearer. Different from a traditional gait phase prediction method, the method increases the model complexity, avoids the use of a large number of sensors, and increases the model precision on the basis of reducing the use of hardware equipment, so that a corresponding controller structure and control parameters are more accurately set according to specific prior information such as man-machine coupling characteristics and the like; and the wearing comfort of the exoskeleton user in the man-machine coupling cooperative walking movement is effectively improved.

The invention discloses a leg joint structure of a foot type robot. The leg joint structure comprises a motor assembly, a thigh shell, a connecting rod transmission assembly, a shank and a foot end. The motor assembly drives the shank to rotate relative to the thigh through the connecting rod transmission assembly. In the connecting rod transmission assembly, a speed reduction connecting rod is introduced between a driving crank and a thigh connecting rod, so that the transmission angle of the driving crank and a next-stage connecting rod is larger, and a motor can drive a shank to move with smaller torque; by designing equal-length speed reduction connecting rods at the two ends of the thigh connecting rod, the transmission angles of a driving crank and a next-stage connecting rod as well as a driven crank and an upper-stage connecting rod in the movement process are improved; and meanwhile, two pairs of parallel pin roller structures are mounted on a thigh shell to limit a thigh connecting rod to only do translational motion, so that the leg joint structure provided by the invention has a larger space movement range before a driving crank and a driven crank reach a dead point position compared with a leg joint without introducing a speed reducing connecting rod and pin roller limiting.

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.