Foot Skeleton With Deformation Arms for Compact Force Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Legged robots often have complex structures, high weight, large volume, and high cost due to the use of force sensors at the foot, leading to low space utilization and integration issues.
Innovation Solution
A foot skeleton with deformation arms and force detection units integrated into the structure, utilizing grooves and deformation holes to transmit external forces to detection units, enhancing sensing accuracy and simplifying the structure while reducing weight and volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force sensor is installed at the robot foot, then force detection capability is provided, but the structure becomes complex with increased weight and volume
Solution Approach 1:
The force detection function is merged with the foot skeleton structure itself. The deformation arm is integrated into the foot skeleton, and the force detection unit is embedded within the deformation arm, eliminating the need for separate force sensors and reducing overall structural complexity
Solution Approach 2:
The deformation arm serves multiple functions: it provides structural support as part of the foot skeleton, enables force detection through its deformation characteristics, and transmits forces from the foot sole to the detection unit. This multi-functionality reduces the need for separate components
2Measurement precision
If a force sensor is installed at the robot foot, then force detection capability is provided, but the weight and volume increase
Solution Approach 1:
The force detection unit is combined with the deformation arm structure, and the deformation arm is integrated into the foot skeleton. This merging eliminates redundant components and reduces the overall weight of the foot assembly
Solution Approach 2:
The invention uses the deformation characteristics of the arm structure itself as the sensing mechanism, copying the function of a separate force sensor into the structural element, thereby avoiding the weight penalty of additional sensing hardware
3Measurement precision
If a force sensor is installed at the robot foot, then force detection capability is provided, but space utilization decreases
Solution Approach 1:
The force detection unit is embedded within the deformation arm, which is itself integrated into the foot skeleton. This nested merging arrangement maximizes space utilization by eliminating gaps and redundant structural elements that would exist with separate sensor mounting
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution improves the sensing accuracy of force detection, simplifies the structural design, enhances integration, and reduces the overall weight and volume of the foot structure.
Implementation Method 1
a side portion of the at least one deformation arm includes a deformation hole... the at least one deformation arm is provided with at least one force detection unit
Data Source
Figure 1~2
Figure 3~5
Figure 6~8
AI summary
A foot skeleton (20), a foot structure, a robotic leg, and a legged robot are provided. The foot skeleton (20) includes at least one deformation arm (50, 52), the at least one deformation arm (50, 52) is arranged along at least one of a length direction and a width direction of the foot skeleton (20), and a side portion of the at least one deformation arm (50, 52) includes a deformation hole (60). The at least one deformation arm (50, 52) is provided with at least one force detection unit (30).