Method for detecting contact between foot end and ground

The invention relates to a foot end ground contact detection method. The method comprises the following steps: acquiring a sole force, a sole speed and a knee joint angular speed of a foot and a leg at a current moment; according to the plantar force, the plantar speed and the knee joint angular speed, the contact observation probability that the foot and the leg are in a contact phase at the current moment is determined; according to a preset gait switching mode of the foot and leg, in combination with a state transition probability algorithm, the first state transition probability that the foot and leg is transferred to the contact phase at the current moment is determined, and the gait switching mode is used for achieving periodic switching between the swing phase and the contact phase of the foot and leg; according to the contact observation probability and the first state transition probability, generating a contact probability that the foot and the leg are in a contact phase at the current moment; respo