CN114056451B - Bionic foot pad with multidirectional braking stability and dynamic anti-fatigue characteristics - Google Patents
Bionic foot pad with multidirectional braking stability and dynamic anti-fatigue characteristics Download PDFInfo
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- CN114056451B CN114056451B CN202111539336.1A CN202111539336A CN114056451B CN 114056451 B CN114056451 B CN 114056451B CN 202111539336 A CN202111539336 A CN 202111539336A CN 114056451 B CN114056451 B CN 114056451B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 145
- 230000002929 anti-fatigue Effects 0.000 title claims abstract description 22
- 239000010410 layer Substances 0.000 claims abstract description 64
- 239000012528 membrane Substances 0.000 claims abstract description 58
- 239000000835 fiber Substances 0.000 claims abstract description 44
- 239000004744 fabric Substances 0.000 claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 19
- 239000002344 surface layer Substances 0.000 claims abstract description 16
- 108010081750 Reticulin Proteins 0.000 claims abstract description 15
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 11
- 239000000741 silica gel Substances 0.000 claims abstract description 11
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 11
- 210000000577 adipose tissue Anatomy 0.000 claims description 15
- 239000000853 adhesive Substances 0.000 claims description 9
- 230000001070 adhesive effect Effects 0.000 claims description 9
- 230000006641 stabilisation Effects 0.000 claims description 4
- 238000011105 stabilization Methods 0.000 claims description 4
- 239000003190 viscoelastic substance Substances 0.000 claims description 3
- 239000011230 binding agent Substances 0.000 abstract 1
- 238000005470 impregnation Methods 0.000 abstract 1
- 230000006835 compression Effects 0.000 description 8
- 238000007906 compression Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000003592 biomimetic effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007598 dipping method Methods 0.000 description 2
- 210000003195 fascia Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B33/00—Layered products characterised by particular properties or particular surface features, e.g. particular surface coatings; Layered products designed for particular purposes not covered by another single class
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B5/00—Layered products characterised by the non- homogeneity or physical structure, i.e. comprising a fibrous, filamentary, particulate or foam layer; Layered products characterised by having a layer differing constitutionally or physically in different parts
- B32B5/02—Layered products characterised by the non- homogeneity or physical structure, i.e. comprising a fibrous, filamentary, particulate or foam layer; Layered products characterised by having a layer differing constitutionally or physically in different parts characterised by structural features of a fibrous or filamentary layer
Abstract
A bionic foot pad with multidirectional braking stability and dynamic anti-fatigue characteristics comprises a bionic foot pad upper layer, a bionic foot pad middle layer and a bionic foot pad surface layer; the layers of the bionic foot pad are bonded by the binder. The upper layer of the bionic foot pad is made of a material with the Shore hardness of more than or equal to 30A, and the Shore hardness of the surface layer of the bionic foot pad is in the range of 5A-20A. The middle layer of the bionic foot pad is made of fabric coated by silica gel impregnation to simulate a reticular fiber membrane with a special structure in the heel pad of a human body, and the bionic foot pad has stable mechanical properties of multidirectional braking on the horizontal plane due to the inclination angle alpha of the transverse fiber membrane along the horizontal braking direction; the bionic reticular fiber membranes in the bionic foot pad are symmetrically distributed so as to enable the bionic reticular fiber membranes to show dynamic anti-fatigue characteristics.
Description
Technical Field
The invention relates to the field of mechanical bionic engineering, in particular to a bionic foot pad for a foot sole of a leg-foot type robot, which has multidirectional braking stability and dynamic anti-fatigue characteristics.
Background
At present, the rapid development of the leg-foot type robot technology brings great convenience to the life of people, plays a role in spanning promotion for the social development, however, the poor ground contact braking stability in the movement of the leg-foot type robot influences the movement stability of the leg-foot type robot, and further severely limits the application of the leg-foot type robot.
In the related research at present, researchers usually realize the multidirectional braking stabilization of the robot foot through complex programming control, but the mode has higher cost and great operation difficulty; in addition, elastic materials such as rubber, silica gel and TPE are arranged on the soles of the robots to improve the ground contact stability of the robots, and because the elastic bodies have no anisotropic mechanical properties, the horizontal tangential load is always effectively braked when the robot cannot contact the ground, the phenomenon of poor horizontal tangential braking stability is easily caused, the fatigue life of the elastic bodies is short, the foot pads are easily damaged after the robot walks for many times, and the dynamic anti-fatigue property is poor.
The patent 'a coupling bionic foot pad for improving the ground contact stability of a leg foot type robot' improves the ground contact stability of the leg foot type robot through structure and material combination. In the patent, the structure of the middle compartment close to the heel pad of the human body and the silica gel with different components are adopted to simulate the structure of the inner compartment and the material composition of the heel pad of the human body, and the restriction of the structure ensures that the structure only plays a role in braking in one direction on the horizontal plane and does not have the mechanical property of multidirectional braking stability; and the properties of the silica gel material are greatly different from those of the heel pad of the human body, and the excellent dynamic anti-fatigue characteristics and other good biomechanical characteristics of the heel pad of the human body can not be completely reproduced by using the silica gel material. The bionic foot pad related to the patent does not have the mechanical properties of multidirectional braking stability and dynamic anti-fatigue property, and needs to be solved urgently.
Biomechanical researches show that the fiber net structure and the material combination in the heel pad of the human body enable the heel pad to have anisotropic mechanical properties of multidirectional braking stability and excellent dynamic anti-fatigue characteristics on the horizontal plane, the anisotropic mechanical properties ensure the ground contact stability when the human body walks, and the excellent dynamic anti-fatigue characteristics enable the heel pad of the human body to have good durability.
Based on the fibrous membrane in the heel pad of the human body with a special net structure and the promotion of the viscoelastic adipose tissue, the patent discloses a bionic foot pad with multidirectional braking stability and dynamic anti-fatigue characteristics.
Disclosure of Invention
The invention aims to solve the problems of poor braking stability and poor anti-fatigue property of the traditional robot foot pad, and provides a bionic foot pad with multidirectional braking stability and dynamic anti-fatigue property.
The invention is inspired by the special net structure fiber membrane and visco-elastic adipose tissue in the heel pad of human body, and solves the above problems based on the unique structure and material combination.
A bionic foot pad with multidirectional braking stability and dynamic anti-fatigue characteristics comprises a bionic foot pad upper layer, a bionic foot pad middle layer and a bionic foot pad surface layer;
the bionic prototype of the upper layer of the bionic foot pad is plantar fascia tissue, and the layer is made of a material with the Shore hardness of more than or equal to 30A, such as: dragon Skin30 and the like. The thickness of the upper layer of the bionic foot pad is 2mm, and the upper surface and the lower surface of the upper layer of the bionic foot pad are respectively coated with adhesive, and are respectively adhered with the plantar surface of the robot and the upper surface of the middle layer of the bionic foot pad.
The bionic prototype of the middle layer of the bionic foot pad is a large compartment layer in the heel pad of a human body, and a fiber membrane in the layer is of a special net structure and is wrapped with viscoelastic adipose tissue. The bionic reticular fiber membrane in the layer uses a fabric which is coated by dipping with Ecoflex0010 bi-component silica gel, and the elastic elongation of the fabric in the direction C is 1-2 times of that in the direction D after the fabric is unfolded, wherein the elastic elongation of the fabric in the direction C is 200-300%; the overall thickness of the layer was in the range of 15.+ -.1 mm.
The transverse fiber membrane and the longitudinal fiber membrane are interwoven to form a bionic net-shaped fiber membrane, a plurality of independent closed chambers are formed in the bionic net-shaped fiber membrane, and the volume of each independent chamber is 1200mm 3 —2000mm 3 Within the range, the bionic adipose tissue is filled in the cavity, and the bionic adipose tissue has the characteristic of viscoelastic material. From the section B-B, the longitudinal fiber film has a convex structure andis bilaterally symmetrically distributed about a dot-dash line b, and has a curvature of 0.02-0.08; from the cross-sectional view A-A, the transverse fibrous membrane is still in a convex structure, but is asymmetrically distributed about the dash-dot line a, and has a curvature of 0.02-0.08, wherein the transverse fibrous membrane a is inclined along the walking direction of the human body by an angle of alpha=60° -80 °.
The bionic foot pad surface layer simulates a skin layer in a heel pad of a human body, the Shore hardness of the layer using materials is in the range of 5A-20A, and the thickness of the layer is in the range of 2+/-0.5 mm. The upper surface of the bionic foot pad surface layer is coated with an adhesive and is adhered to the lower surface of the bionic foot pad middle layer.
The working principle and the working process of the invention are as follows:
the invention is inspired by the special reticular structure fiber membrane and the viscoelastic adipose tissue in the heel pad of the human body, can realize the multidirectional braking stability and the dynamic anti-fatigue characteristic of the bionic foot pad based on the unique structure and the material combination, and can improve the ground contact stability and has good service life when applied to the sole of the legged robot. The bionic foot pad is mainly divided into three layers, wherein the upper surface of the upper layer of the bionic foot pad is attached to the plantar surface of a leg foot robot through an adhesive, the lower surface of the bionic foot pad is attached to the upper surface of the middle layer of the bionic foot pad through an adhesive, and the upper surface of the surface layer of the bionic foot pad is attached to the lower surface of the middle layer of the bionic foot pad through an adhesive. When the bionic foot pad touches the ground, the bionic foot pad receives a load F, and the F is decomposed into Fa, fb and Fc along a three-dimensional space coordinate system; the effect of Fa makes the bionical foot pad take place compression deformation in vertical direction, bionical foot pad is to the expansion deformation all around when receiving Fa, because the elasticity of fabric along direction C is better, consequently easily takes place to warp when initial compression, and it shows low rigidity mechanical properties, along with compression going on, bionical fibre net tensioning is high rigidity mechanical properties this moment, consequently bionical foot pad is become rigidity nonlinear mechanical properties in vertical direction under Fa's effect: in the horizontal braking direction, the bionic fiber net contracts inwards to tension the internal nearly incompressible bionic adipose tissue under the action of Fb, and the bionic fiber net is rapidly tensioned when the bionic foot pad brakes the load Fb due to poor elasticity of the fabric along the direction D, so that the bionic fiber net is relatively short in the horizontal braking directionIs of the displacement L of (2) 1 The braking of the load Fb is completed, and the braking instability caused by overlarge braking displacement is prevented; in the horizontal lateral direction, the bionic foot pad brakes Fc on the same principle as the horizontal braking direction, with a shorter displacement L 2 The braking of Fc is completed, because the longitudinal fiber film has an inclination angle alpha along the walking direction of the human body (horizontal braking direction), and the transverse fiber film does not have an inclination angle alpha along the horizontal side direction, according to a physical sample test and finite element simulation verification, when Fb=Fc, L 2 ＞L 1 I.e. the shear stiffness in the horizontal lateral direction is slightly less than the shear stiffness in the horizontal braking direction, which fully corresponds to the mechanical properties of the human heel pillow in both directions, i.e. the shear stiffness in the horizontal lateral direction of the human heel pillow is less than the shear stiffness in the horizontal braking direction. Therefore, the bionic foot pad finishes braking of Fb and Fc with different mechanical properties in the horizontal braking direction and the horizontal lateral direction in a similar braking mode of the human foot pad, so that the braking stability is greatly improved, and the ground contact stability of the leg foot type robot is improved.
The two sides of the transverse fiber membrane in the middle layer of the bionic foot pad are symmetrically distributed in parallel, while the two sides of the longitudinal fiber membrane are asymmetrically distributed, the fiber membranes on the two sides are parallelly distributed, the bionic fiber net uniformly expands and expands to the periphery when the bionic heel pad is subjected to a compression load Fa, and the stress on the bionic fiber net is relatively uniform everywhere, so that the bionic heel pad is not easy to damage after being repeatedly compressed; the layer uses the reticular fabric wrapped by silica gel to simulate the reticular fiber membrane structure in the heel pad of the human body, and the fabric has the material characteristics of softness and high strength, so that the fracture resistance is stronger, and the bionic foot pad can keep the original mechanical property after the robot foot pad is repeatedly compressed.
The invention has the beneficial effects that:
1. the invention designs a bionic foot pad with similar characteristics based on a special reticular fiber membrane structure and material combination in a heel pad of a human body. The bionic foot pad can realize nonlinear rigidity mechanical properties in the vertical direction, and the material with the mechanical properties can avoid trembling and rebound generated when the bionic foot pad touches the ground, and can ensure the stability in the vertical direction when the leg foot type robot touches the ground.
2. The bionic foot pad disclosed by the invention is used for braking corresponding loads in all directions in a horizontal braking direction and a horizontal lateral direction respectively through smaller braking displacement, the shearing rigidity of the horizontal lateral direction is smaller than that of the horizontal braking direction, the mechanical characteristics completely accord with the mechanical characteristics of the heel pad of a human body in the two directions, and the bionic foot pad has better multi-directional braking stability in the horizontal direction.
3. The bionic foot pad provided by the invention has excellent dynamic anti-fatigue characteristics through parallel symmetrical distribution on two sides of a transverse fiber membrane and parallel and nearly symmetrical distribution on two sides of a longitudinal fiber membrane.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a top view of a middle layer of a bionic foot pad according to the invention;
FIG. 3 is a section A-A of FIG. 2;
FIG. 4 is a section B-B of FIG. 2;
FIG. 5 is a schematic diagram of the overall structure of a biomimetic mesh-like fibrous membrane;
fig. 6 is a fabric of any place in the biomimetic mesh fibrous membrane.
Wherein: 1-bionic foot pad upper layer; 11-the upper surface of the upper layer of the bionic foot pad; 12-the lower surface of the upper layer of the bionic foot pad; 2-a middle layer of the bionic foot pad; 21-the upper surface of the middle layer of the bionic foot pad; 22-the lower surface of the middle layer of the bionic foot pad; 23-bionic reticular fiber membrane; 231-transverse fibrous membrane; 2311-transverse fibrous membrane a; 232-longitudinal fibrous membrane; 24-a fabric at any position in the bionic reticular fiber membrane; 25-bionic adipose tissue; 26-chamber; 3-bionic foot pad surface layer; 31-the upper surface of the bionic foot pad surface layer; 32-bionic foot pad surface layer lower surface.
Detailed Description
Referring to fig. 1 to 6, a bionic foot pad with multi-directional braking stability and dynamic anti-fatigue properties comprises: the bionic foot pad comprises a bionic foot pad upper layer 1, a bionic foot pad middle layer 2 and a bionic foot pad surface layer 3;
the bionic prototype of the bionic foot pad upper layer 1 is plantar fascia tissue, and the bionic prototype of the bionic foot pad upper layer uses materials with Shore hardness more than or equal to 30A, such as: dragon Skin30 and the like. The thickness of the upper layer 1 of the bionic foot pad is 2mm, and the upper surface and the lower surface of the upper layer of the bionic foot pad are respectively coated with adhesive, and are respectively adhered to the plantar surface of the robot and the upper surface 21 of the middle layer of the bionic foot pad.
The bionic prototype of the bionic foot pad middle layer 2 is a large compartment layer in a human heel pad, and a fiber membrane in the layer is of a special net structure and is wrapped with bionic adipose tissue 25. The bionic reticular fiber membrane 23 in the layer uses a fabric which is coated by dipping with Ecoflex0010 bi-component silica gel, and the elastic elongation of the fabric in the direction C is 1-2 times of that in the direction D after the fabric is unfolded, wherein the elastic elongation of the fabric in the direction C is 200-300%. The overall thickness of the layer was in the range of 15.+ -.1 mm. The transverse fiber membranes 231 and the longitudinal fiber membranes 232 are interwoven to form a bionic reticular fiber membrane 23, a plurality of independent closed chambers 26 are formed in the bionic reticular fiber membrane 23, and the volume of each independent chamber 26 is 1200mm 3 —2000mm 3 Within the scope, the bionic adipose tissue 25 is filled in the cavity 26, and the bionic adipose tissue 25 has the characteristic of viscoelastic material. From the cross-sectional view B-B, the longitudinal fiber film 232 has a convex structure and is symmetrically distributed on both sides with respect to the center line, namely the mirror line B, and the curvature is 0.02-0.08; from the cross-sectional view A-A, the transverse fibrous membrane 231 is still in a convex structure, but is asymmetrically distributed about the center line, i.e., the mirror line a, and has a curvature of 0.02-0.08, wherein the transverse fibrous membrane a2311 is inclined in the walking direction of the human body by an angle of α=60° -80 °. When the bionic foot pad touches the ground, the load F is received, and is transmitted to the bionic foot pad middle layer 2 through the bionic foot pad upper layer 1, and the F is decomposed into Fa, fb and Fc along a three-dimensional coordinate system; the effect of Fa makes the bionical foot pad take place compression deformation in vertical direction, bionical netted fibrous membrane 23 bulge deformation all around when bionical foot pad middle level 2 receives Fa, because the elasticity of fabric along direction C is better, consequently easily takes place to warp when initial compression, it shows low rigidity mechanical properties, along with compression going on, bionical netted fibrous membrane 23 tensioning is high rigidity mechanical properties this moment, consequently bionical foot pad is become rigidity nonlinear mechanical properties in vertical direction under Fa's effect: in the horizontal braking direction, the bionic reticular fiber membrane 23 contracts inwards to tighten the bionic adipose tissue 25 which is almost incompressible inside under the action of Fb, due to the fabricThe elasticity along the direction D is poor, and the bionic net-shaped fiber membrane 23 is rapidly tensioned when the bionic foot pad brakes the load Fb, so that the bionic net-shaped fiber membrane is displaced in the horizontal braking direction by a short distance L 1 The braking of the load Fb is completed, and the braking instability caused by overlarge braking displacement is prevented; in the horizontal lateral direction, the bionic foot pad brakes Fc on the same principle as the horizontal braking direction, with a shorter displacement L 2 The braking of Fc was completed, since the transverse fiber film a2311 had an inclination angle α in the human walking direction (horizontal braking direction), while the longitudinal fiber film 232 had no inclination angle α in the horizontal lateral direction, according to the physical sample test and the finite element simulation verification, when fb=fc, L 2 ＞L 1 I.e. the shear stiffness in the horizontal lateral direction is slightly less than the shear stiffness in the horizontal braking direction, which fully corresponds to the mechanical properties of the human heel pillow in both directions, i.e. the shear stiffness in the horizontal lateral direction of the human heel pillow is less than the shear stiffness in the horizontal braking direction. Therefore, the bionic foot pad finishes braking of Fb and Fc with different mechanical properties in the horizontal braking direction and the horizontal lateral direction in a similar braking mode of the human foot pad, so that the braking stability is greatly improved, and the ground contact stability of the leg foot type robot is improved.
The two sides of the longitudinal fiber membrane 232 of the middle layer 2 of the bionic foot pad are symmetrically distributed in parallel, while the two sides of the transverse fiber membrane 231 are asymmetrically distributed, the fiber membranes on the two sides are parallelly distributed, the bionic net-shaped fiber membrane 23 uniformly expands and expands to the periphery when the bionic heel pad is subjected to a compression load Fa, and the stress on the bionic net-shaped fiber membrane 23 is relatively uniform, so that the bionic net-shaped fiber membrane 23 is not easy to damage after being repeatedly compressed; the layer uses the reticular fabric wrapped by silica gel to simulate the reticular fiber membrane structure in the heel pad of the human body, and the fabric has the material characteristics of softness and high strength, so that the fracture resistance is stronger, and the bionic foot pad can keep the original mechanical property after the robot foot pad is repeatedly compressed.
The bionic foot pad surface layer 3 simulates a skin layer in a heel pad of a human body, the Shore hardness of the layer using materials is in the range of 5A-20A, and the thickness of the layer is in the range of 2+/-0.5 mm; the upper surface 31 of the surface layer of the bionic foot pad is coated with an adhesive and bonded to the lower surface 22 of the middle layer of the bionic foot pad.
Claims (5)
1. A bionic foot pad with multidirectional braking stability and dynamic anti-fatigue characteristics is characterized in that: comprises a bionic foot pad upper layer (1), a bionic foot pad middle layer (2) and a bionic foot pad surface layer (3);
the upper surface and the lower surface of the upper layer (1) of the bionic foot pad are respectively coated with adhesive, and are respectively adhered to the plantar surface of the robot and the upper surface (21) of the middle layer of the bionic foot pad; the upper surface (31) of the bionic foot pad surface layer is coated with an adhesive and is adhered with the lower surface (22) of the bionic foot pad middle layer;
the transverse fiber membrane (231) and the longitudinal fiber membrane (232) in the bionic foot pad middle layer (2) are interwoven to form a bionic net-shaped fiber membrane (23), a plurality of independent closed chambers (26) are formed in the bionic net-shaped fiber membrane (23), and the volume of each independent chamber (26) is 1200mm 3 —2000mm 3 The chamber (26) is internally filled with bionic adipose tissue (25); the longitudinal fiber membrane (232) is in a convex structure and is symmetrically distributed on two sides about the central line, and the curvature is 0.02-0.05; the transverse fiber membrane (231) is of a convex structure, is asymmetrically distributed about a central line, has a curvature of 0.02-0.05, and the transverse fiber membrane A (2311) is inclined along the walking direction of a human body by an angle of alpha=60-80 degrees.
2. The bionic foot pad with multidirectional braking stabilization and dynamic anti-fatigue characteristics according to claim 1, wherein: the thickness of the bionic foot pad upper layer (1) is 2mm; the overall thickness of the middle layer (2) of the bionic foot pad is 15+/-1 mm; the thickness of the bionic foot pad surface layer (3) is 2+/-0.5 mm.
3. The bionic foot pad with multidirectional braking stabilization and dynamic anti-fatigue characteristics according to claim 1, wherein: the bionic foot pad upper layer (1) is made of a material with Shore hardness more than or equal to 30A; the Shore hardness of the material used for the bionic foot pad surface layer (3) is 5A-20A.
4. A bionic foot pad according to claim 3 having multi-directional braking stability and dynamic anti-fatigue properties, characterized in that: the material with the Shore hardness of more than or equal to 30A is silica gel.
5. The bionic foot pad with multidirectional braking stabilization and dynamic anti-fatigue characteristics according to claim 1, wherein: a bionic reticular fiber membrane (23) in the bionic foot pad middle layer (2) is wrapped with a bionic adipose tissue (25); the bionic reticular fiber membrane (23) uses a fabric which is impregnated and coated by bi-component silica gel, and the elastic elongation of the fabric in the direction C is 1-2 times of that in the direction D after the fabric is unfolded, wherein the elastic elongation of the fabric in the direction C is 200-300%; the bionic adipose tissue has the characteristic of a viscoelastic material.
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