Wearable tactile feedback static balance real-time control method and system

Abstract

The invention relates to a static balance real-time control method and system for a wearable tactile feedback device, and aims to provide an efficient, accurate and real-time static balance control scheme. According to the system, COP position data of a user is collected in real time through the pressure center COP collection module, and timely normal pressure feedback is provided in combination with the wearable tactile feedback device, so that the balance state of the user is adjusted. The system adopts an advanced data processing algorithm, supports multiple feedback control mode linear, quadratic and logarithmic functions, and can calculate COP offset in real time and generate corresponding feedback signals. Through the interactive interface, a user can conveniently set control parameters and display the COP track in real time. The system is widely applied to the fields of exercise training, rehabilitation treatment and virtual reality, has high-precision and low-delay feedback control capability, can effectively improve the accuracy and real-time performance of balance adjustment, fills the blank in the prior art, and has relatively strong application prospects and market potential.

Description

Technical Field

[0001] This invention provides a high-precision real-time static balance control method and an interactive dynamic balance control system based on a wearable tactile feedback device. This method can be used to monitor a user's weight and center of pressure (COP) position in real time. By combining high-precision mechanical data acquisition with timely tactile feedback, it can adjust the user's balance in real time. This approach relates to the fields of sports science, rehabilitation medicine, virtual reality technology, human-computer interaction, and intelligent wearable devices. Background Art

[0002] In recent years, with the rapid development of sports rehabilitation and virtual reality technologies, balance control and feedback regulation have received increasing attention in rehabilitation medicine and sports training. As an essential component of athlete training, rehabilitation therapy, and the daily lives of the elderly and disabled, balance control has become a key factor in improving athletic performance and preventing health issues such as falls. Traditional balance assessment methods, such as static standing tests and gait analysis, while helpful in certain situations, generally suffer from several issues. Existing balance assessment methods often experience significant time delays when providing feedback. This prevents users from making timely balance adjustments, impacting training or treatment effectiveness. Many traditional methods rely on simple sensors or analysis techniques, resulting in significant errors in balance assessment results and failing to accurately reflect the user's true balance state. Existing balance adjustment systems are complex to operate and often require professional intervention and adjustment, making them difficult to adapt to the average user or home environment, limiting their widespread application in daily life.

[0003] In order to address the limitations of the prior art, the present invention proposes a static balance control system that combines a pressure center COP acquisition module and a wearable tactile feedback device. Compared with the prior art, the present invention has significant innovation and advantages. The present invention can acquire the user's COP position in real time through the close cooperation of the pressure center COP acquisition module and the wearable feedback device, and provide tactile feedback in a timely manner through the wearable feedback device, eliminating the feedback delay problem in the traditional method and ensuring the real-time nature of the balance adjustment. At the same time, the present invention adopts advanced data processing algorithms, and through dynamic COP calculation and multi-model feedback control mechanism, significantly improves the accuracy of balance assessment and reduces the common data errors in the prior art. The system interface of the present invention is simple and intuitive. Users can conveniently select feedback models, adjust parameters, and view COP trajectories and operating status in real time through the software interface. The operation is simple and convenient, and is suitable for all types of users.

[0004] This system boasts low design costs and high ease of use, enabling widespread application in fields such as sports training, rehabilitation therapy, and virtual reality interaction, filling a gap in existing technology. The system's innovation lies in its precise balance adjustment capabilities and timely feedback mechanism, effectively meeting the needs of a variety of application scenarios. With continued optimization of the system, it is expected that this invention will play a key role in fields such as sports training, rehabilitation medicine, and virtual reality, promoting the advancement and application of related technologies. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a wearable tactile feedback static balance real-time control method and system.

[0006] The present invention is implemented as follows: a wearable tactile feedback device static balance real-time control system, the system comprising:

[0007] A pressure center COP acquisition module 1, a wearable tactile feedback device 2, a main control computer 3, a USB connection cable 4 and an adjustable voltage adapter 5;

[0008] Each component works closely together through Bluetooth and USB connections to achieve real-time data transmission and processing; the pressure center COP acquisition module 1 is connected to the main control computer 3 via Bluetooth to collect the user's COP position data in real time and transmit it to the main control computer;

[0009] The main control computer is responsible for data processing and COP calculation, generating feedback signals, and transmitting the signals to the wearable tactile feedback device 2 via the USB cable 4. After receiving the feedback signals, the device drives the motor to output appropriate normal pressure based on the calculation results to help the user adjust the balance. At the same time, the wearable feedback device 2 is connected to the power supply through the adjustable voltage adapter 5 to ensure the continuous and stable operation of the equipment.

[0010] Furthermore, the pressure center COP acquisition module 1 uses a support plate with a built-in four-channel pressure sensor array, with a vertical Fz range of 0-1000N, an overall accuracy of ≤0.5% FSO, and a 16-bit resolution; data is synchronously collected at a sampling frequency of 1000Hz and transmitted to the main control computer 3 in real time via the Bluetooth 5.0 protocol.

[0011] Furthermore, the wearable tactile feedback device 2 is composed of a drive box 6 and a feedback fixing base 7, an integrated DC motor 10, and contains an FOC drive circuit 11, a magnetic encoder 9 and a main control module 8.

[0012] Furthermore, the software system of the main control computer 3 realizes high-precision real-time control of static balance through the collaborative work of the data processing module, the feedback control module and the interactive interface. In the data processing module, the system first performs sensor zero point calibration: the sensor raw data is collected at a sampling frequency of 1000 Hz under no-load state, and the zero point compensation value is calculated by sliding average filtering:

[0013]

[0014] Where N is the number of acquired data frames, F i，k Represents the raw data of the i-th sensor in the k-th frame. The corrected data is compensated by the following formula:

[0015] F i,corrected =F i,raw -S zero [i]

[0016] Then, while the user is standing still for n seconds, the system calculates the weight:

[0017]

[0018] Where W represents weight, F i (k) is the signal of the i-th sensor in the k-th frame; the lateral position of the COP:

[0019]

[0020] Where L is the width of the support plate of the pressure center COP acquisition module, and W is the user's weight. The static baseline COP value is calculated by taking a sliding average of all COP_x data within n seconds:

[0021]

[0022] This reference value will be used for the COP difference calculation in the subsequent dynamic phase to ensure the baseline stability of the operation. After entering the feedback phase, the system integrates 50 frames of data every 50ms20Hz and calculates the COP position in real time.

[0023] Furthermore, the feedback control module calculates the COP lateral offset in real time:

[0024] ΔCOP=COP x -COP x,center

[0025] It also generates feedback signals based on the preset mapping model, supporting three control modes: linear, quadratic function, and logarithmic function. Users can dynamically select the model, adjust the proportional coefficient k and the dead zone range through the interactive interface.

[0026] Linear model: u(t) = k*ΔCOP x (t),|ΔCOP x |≥Dmm, default value k=0.5

[0027] Quadratic function model: u(t) = kΔCOP x (t) 2 ,|ΔCOP x |≥Dmm, default value k=0.04

[0028] Logarithmic function model: u(t)=k*ln(|ΔCO+1),|ΔCOP x |≥Dmm, default value k=0.6

[0029] k is the initial default value of the proportional coefficient, D is the dead zone range, the default value is 0mm, and the user can customize it according to needs;

[0030] The interactive interface displays the COP trajectory and operating status in real time; supports one-button start and stop, and automatic export and storage of data in CSV format; provides selection of mapping models such as linear, quadratic, and logarithmic, and parameter configuration functions, with dynamic adjustment of the proportional coefficient k and dead zone threshold D.

[0031] Another object of the present invention is to provide a wearable tactile feedback device static balance real-time control method based on the wearable tactile feedback device static balance real-time control system, the method specifically comprising:

[0032] S1: The pressure center COP acquisition module 1 is connected to the main control computer 3 via Bluetooth, collects the user's COP position data in real time and transmits it to the main control computer;

[0033] S2: The main control computer is responsible for data processing and COP calculation, generating feedback signals, and transmitting the signals to the wearable tactile feedback device 2 via the USB cable 4. After receiving the feedback signals, the device drives the motor to output appropriate normal pressure according to the calculation results to help the user adjust the balance. At the same time, the wearable feedback device 2 is connected to the power supply through the adjustable voltage adapter 5 to ensure the continuous and stable operation of the device.

[0034] Another object of the present invention is to provide a computer device, characterized in that the computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the real-time control method of static balance of the wearable tactile feedback device.

[0035] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to execute the steps of the real-time control method for static balance of a wearable tactile feedback device.

[0036] Another object of the present invention is to provide an information data processing terminal, which is used to implement a real-time control system for static balance of the wearable tactile feedback device.

[0037] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0038] This invention monitors the user's balance in real time and provides timely feedback and adjustments based on the deviation of their center of pressure (COP) position. Unlike traditional balance adjustment methods, this invention eliminates feedback delays through precise COP calculation and a dynamic feedback mechanism, ensuring that users receive the balance support they need immediately, effectively improving the response speed and accuracy of balance adjustment.

[0039] This invention provides a variety of feedback control models, including linear, quadratic, and logarithmic functions. Users can dynamically select the appropriate control mode based on their actual needs and adjust the proportional coefficient k and dead zone range D to meet the balance requirements of different users. This flexible feedback mechanism can effectively address the balance adjustment needs of different training intensities, rehabilitation goals, and virtual reality scenarios.

[0040] This invention implements a closed-loop "perception-feedback-adjustment" system. By accurately collecting and processing COP data, the system provides real-time feedback signals to rapidly adjust the user's balance posture. This feedback mechanism helps the user maintain a stable balance and prevents discomfort or instability caused by excessive or insufficient balance adjustments.

[0041] The wearable tactile feedback device of this invention is lightweight and easy to wear. The system is compact and portable, allowing for quick deployment and use without interfering with the user's natural movements. It can be widely used in fields such as sports training, rehabilitation therapy, and virtual reality interaction. It has strong adaptability and scalability, making it suitable for use in a variety of environments, including homes, hospitals, and research institutions.

[0042] The system allows users to quickly configure the system and, through an intuitive interface, view COP trajectory and operating status in real time, easily selecting feedback models and parameters. Users can easily select different control modes based on their needs. The simple and convenient operation makes it suitable for athletes, rehabilitation patients, researchers, and other users, significantly enhancing the user experience.

[0043] The system of the present invention supports automatic data storage and file export for easy subsequent analysis and evaluation. The data recording function provides reliable data support for long-term tracking of the user's balance changes and rehabilitation progress. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of the system structure of the present invention;

[0045] Figure 2 Schematic diagram of the structure of the wearable tactile feedback device of the present invention;

[0046] Figure 3 It is a multi-view schematic diagram of the drive box of the present invention;

[0047] Figure 4 is a multi-view schematic diagram of the feedback device of the present invention;

[0048] Figure 5 This is a structural diagram of the pressure center COP acquisition module of the present invention;

[0049] Figure 6 Data processing and control flow chart of the present invention;

[0050] Figure 7 Schematic diagram of the COP trajectory of a subject under different experimental conditions; Figure (a): eyes open and wearing the feedback device of the present invention; Figure (b): eyes closed and wearing the feedback device of the present invention; Figure (c): eyes open and not wearing the feedback device of the present invention; Figure (d): eyes closed and not wearing the feedback device of the present invention;

[0051] In the figure: 1. Pressure center COP acquisition module; 2. Wearable tactile feedback device; 3. Main control computer; 4. USB connection cable; 5. Adjustable voltage adapter; 6. Drive box; 7. Feedback fixing base; 8. Main control module; 9. Magnetic encoder; 10. DC motor; 11. FOC drive circuit; 12. Pressure sensor II; 13. Pressure sensor III; 14. Pressure sensor IV; 15. Charging port; 16. Battery display screen; 17. Power switch; 18. Support plate; 19. Pressure sensor I. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] See Figure 1-Figure 5The present invention provides a wearable tactile feedback device static balance real-time control system, which includes a pressure center COP acquisition module 1, a wearable tactile feedback device 2, a main control computer 3, a USB connection line 4 and an adjustable voltage adapter 5. The components work closely together through Bluetooth and USB connection to achieve real-time transmission and processing of data. The pressure center COP acquisition module 1 is connected to the main control computer 3 via Bluetooth, and collects the user's COP position data in real time and transmits it to the main control computer 3. The main control computer 3 is responsible for data processing and COP calculation, generates feedback signals, and transmits the signals to the wearable tactile feedback device 2 via the USB connection line 4. After receiving the feedback signal, the device drives the motor to output appropriate normal pressure according to the calculation results to help the user adjust the balance. At the same time, the wearable feedback device 2 is connected to the power supply through the adjustable voltage adapter 5 to ensure the continuous and stable operation of the equipment;

[0054] See Figure 1 The user stands still on the pressure center COP acquisition module 1, wears the wearable tactile feedback device 2 on the finger and connects it to the power supply through the adjustable voltage adapter 5. Each component is connected to the main control computer 3 via Bluetooth and USB to achieve real-time data collection and transmission;

[0055] See Figure 2-4 The wearable tactile feedback device 2 mainly includes a drive box 6, a feedback mount 7, a main control module 8, a magnetic encoder 9, a DC motor 10, and a FOC drive circuit 11. These components are assembled and electrically connected to achieve the output function of pressure feedback. The drive box 6 and the feedback mount 7 provide support and fixation, the main control module 8 is used to receive and execute control commands, the magnetic encoder 9 monitors the motor shaft angle in real time, and the DC motor 10, in conjunction with the FOC drive circuit 11, outputs a controllable normal pressure to provide timely tactile feedback to the user.

[0056] See Figure 5 , 11, 12, 13, and 14 are pressure sensors I-IV distributed in the four corners, which are used to collect the user's pressure center COP data signal in real time. The charging port 15 provides power input, the power display 16 indicates the remaining power of the acquisition module, and the power switch 17 controls the working and shutdown status of the acquisition module. The support plate 18 provides support and stability for the overall structure, ensuring the effective installation and stable sampling of the pressure sensor and its components;

[0057] See Figure 6, data processing and control flow chart, showing the key steps of the system in static balance control: first, the sensor is zero-point calibrated and the initial COP baseline value is obtained; then, in the dynamic stage, the sensor data is collected and filtered in real time to calculate the COP offset; then, the corresponding feedback signal is generated according to the linear, quadratic or logarithmic model and transmitted to the wearable tactile feedback device via USB connection; finally, the main control computer displays the COP trajectory and feedback status in real time through an interactive interface, and automatically saves all data to a CSV file for subsequent analysis and result backtracking.

[0058] The system acquires the user's COP position data through the Center of Pressure (COP) acquisition module 1 and interacts with the sensor via serial communication. The system calculates the displacement of the center of pressure by measuring the sensor's voltage. During each measurement, the system calculates the lateral offset of the COP and generates feedback signals based on linear, quadratic, and logarithmic mapping models, which are transmitted to the feedback device. The motor control system adjusts the pressure feedback in real time to help the user adjust their static standing position.

[0059] The software system of the main control computer 3 reads and parses the serial port data, converting the voltage values ​​into force values ​​and performing filtering and noise suppression to improve data accuracy. The processed COP data is converted using a transfer function to derive the position and motion information of the center of pressure. The system calculates the deviation of the COP position in real time and adjusts the feedback control output accordingly, thereby adjusting the pressure feedback in real time to ensure that the equilibrium state is maintained.

[0060] The system displays the COP trajectory in real time, intuitively showing the changes in the user's balance state, and can automatically save relevant data such as zero-point calibration data, body weight, real-time COP deviation, etc. to CSV files, facilitating subsequent analysis, evaluation and result backtracking, and providing data support.

[0061] The specific operation method mainly includes the following steps:

[0062] Step 1: System Initialization and Hardware Connection. Place the Center of Pressure COP Acquisition Module 1 horizontally and level it, then turn on the power switch. The user then places the wearable tactile feedback device 2 on their finger and connects it to the main control computer 3 via a USB cable 4. Also, connect the adjustable voltage adapter 5. Run the software on the main control computer 3, select the serial port number in the interactive interface, and click the "Open Serial Port" button to complete the Bluetooth and USB device pairing.

[0063] Step 2: Operation preparation. In the interactive interface, select the feedback model from linear, quadratic, or logarithmic, set the proportional coefficient k and dead zone range D, enter the user name, and get started.

[0064] Step 3: Preliminary calibration and data acquisition. The acquisition module is unloaded, click the "Start" button to perform zero-point calibration, and the interface prompts "Zeroing completed, please stand on the acquisition module". The user stands in a natural posture with feet shoulder-width apart, arms hanging on both sides of the body, and looks straight ahead at the pressure center COP acquisition module 1, and remains still for 8 seconds. In this embodiment, n = 8 seconds. The system continuously collects data and calculates body weight and initial COP benchmark. Calculate the real-time COP position, obtain the COP lateral offset, and generate feedback signals linearly, quadratically, and logarithmically according to the selected mapping model, and send them to the wearable tactile feedback device 2 via USB to parse and drive the motor output feedback control, thereby assisting the user in adjusting the balance posture.

[0065] Step 4: End and save data. The software interface dynamically updates the COP trajectory and feedback operation status. Click the "Stop" button to automatically save the CSV file, which facilitates subsequent analysis, evaluation, and result tracking, providing data support.

[0066] The user stands on support board 18. Four pressure sensors 11, 12, 13, and 14 are located at the four corners of the board, forming the pressure center COP acquisition module 1. Each pressure sensor transmits real-time pressure values ​​to the main control computer 3 via an embedded Bluetooth unit. Main control computer 3 executes a weighted algorithm to quickly calculate the current COP coordinates based on the four-point pressure values. This is then compared with the baseline COP recorded during the initialization phase, providing displacement deviations ΔxΔy for subsequent control steps.

[0067] The main control computer 3 continuously receives the pressure data stream at a set sampling frequency and applies a digital filter to eliminate ambient noise and high-frequency jitter. The system calculates the COP offset in real time and converts it into a quantization error (eCOP) using a linear, quadratic, or logarithmic model. This error directly reflects the direction and magnitude of the body's center of gravity offset, providing a precise reference for the intensity of tactile feedback.

[0068] When the eCOP exceeds the threshold, the main control computer 3 generates a pulse-width modulated (PWM) signal based on the control strategy and sends it to the wearable tactile feedback device 2 via USB cable 4. The USB channel carries both data and power pin signals, ensuring high-speed and stable command transmission, with a round-trip latency of less than 100 milliseconds.

[0069] The wearable tactile feedback device 2 consists of a drive box 6, a feedback mount 7, a main control module 8, a magnetic encoder 9, a DC motor 10, and a field-of-control (FOC) drive circuit 20. The main control module 8 receives PWM signals, which are processed by the FOC drive circuit 20 to modulate the three-phase current to drive the DC motor 10 to output normal thrust. The magnetic encoder 9 transmits real-time motor displacement information back to the main control module 8, forming a local velocity-position loop that ensures that force output varies proportionally with the eCOP. The drive box 6 and feedback mount 7 provide structural support, ensuring that force stimulation is accurately applied to the finger skin.

[0070] The main control computer 3 graphically plots the COP trajectory, error curve, and output PWM duty cycle in real time, allowing users to easily observe training results. The system automatically writes all pressure data, COP coordinates, PWM instructions, and motor feedback into a CSV file, facilitating subsequent statistical analysis and model optimization. An adjustable voltage adapter 5 supplies power to the haptic device 2. The charging port 15 and battery display 16 indicate the remaining battery charge. A power switch 17 powers the acquisition module 1 on and off, ensuring long-term stable operation of the entire system and forming a complete closed-loop control system.

[0071] like Figure 7 To verify the effectiveness of the wearable tactile feedback static balance control system of the present invention, this experiment recruited 12 healthy adult subjects and asked them to perform a 60-second static standing test. Four experimental conditions were set up: eyes open with the present feedback device (a), eyes closed with the present feedback device (b), eyes open without the feedback device (c), and eyes closed without the feedback device (d).

[0072] Experimental results show that tactile feedback significantly improves static standing balance stability. With eyes open and the feedback device of the present invention, COP trajectory fluctuations were minimal, and balance stability was optimal. While feedback still provided compensation with eyes closed, trajectory fluctuations increased compared to eyes open. Without tactile feedback, especially with eyes closed, COP trajectory fluctuations increased significantly, indicating a decrease in balance regulation ability.

[0073] Quantitative analysis of COP root mean square (RMS) values ​​demonstrated that tactile feedback systematically improved postural stability. The RMS values ​​for the wearer of the device (eyes open, 2.33±0.81; eyes closed, 2.35±0.66) were significantly lower than those for the wearer without the device (eyes open, 3.78±2.17; eyes closed, 4.04±1.94). A linear mixed-effects model confirmed a significant main effect of tactile feedback on RMS (*p<0.001), indicating that the tactile feedback provided by the device is a decisive factor in reducing postural fluctuations.

[0074] The RMS value was significantly lower in the presence of tactile feedback, indicating better balance stability. In the absence of tactile feedback, the RMS value was higher, reflecting difficulty in balance regulation. In particular, the COP trajectory fluctuated most in the eyes-closed, no-feedback condition, indicating that the lack of visual and tactile feedback can lead to unstable balance.

[0075] Through experiments and data analysis, the present invention's wearable tactile feedback static balance control system can effectively improve the accuracy of balance regulation. In particular, tactile feedback provides effective compensation in the absence of visual information, significantly enhancing the subject's balance stability. This system has broad application prospects in fields such as sports training, rehabilitation therapy, and virtual reality, helping diverse user groups, such as the elderly and rehabilitation patients, to better regulate their balance and thus improve their quality of life.

[0076] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art will appreciate that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, or can be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0077] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A wearable tactile feedback device static balance real-time control system, characterized in that: The system includes a pressure center acquisition module, a wearable tactile feedback device, a main control computer, a USB data cable, and an adjustable voltage adapter; The pressure center acquisition module is used to synchronously acquire four-channel pressure signals and send them to the main control computer in real time via Bluetooth; The main control computer is used to perform zero point calibration, weight calculation, pressure center position calculation on the pressure signal and generate feedback control instructions, which are sent to the wearable tactile feedback device via a USB data cable; The wearable tactile feedback device is used to receive the control instruction and drive the DC motor to output normal pressure; The adjustable voltage adapter continuously supplies power to the wearable tactile feedback device.

2. The system according to claim 1, wherein: The pressure sensor array of the pressure center acquisition module has a vertical range of 0-1000N, a comprehensive accuracy of less than or equal to 0.5% of the full scale, a resolution of 16 bits, and a sampling frequency of 1000Hz.

3. The system according to claim 1, wherein: The main control computer is provided with a data processing module and a feedback control module; The data processing module collects pressure data for at least one second in a no-load state, obtains a zero-point compensation value using a sliding average method, and compensates subsequent data; The feedback control module calculates the lateral offset of the center of pressure every 50 ms and generates a feedback instruction based on a preset mapping model.

4. The system according to claim 3, characterized in that The mapping models include linear models, quadratic models and logarithmic models, and the interactive interface of the main control computer allows the user to set the proportional coefficient k and the dead zone threshold D respectively.

5. A wearable tactile feedback device, characterized in that: It includes a drive box and a feedback fixing seat; the drive box has a built-in DC motor, a magnetic encoder, a field-oriented control drive circuit and a main control module; the fixing seat is used to fix the drive box to a predetermined part of the human body.

6. The device according to claim 5, characterized in that The main control module adjusts the normal pressure output by the DC motor according to the received control instructions, and performs real-time closed-loop correction through the magnetic encoder.

7. The device according to claim 5, characterized in that The power supply voltage of the device is provided by an adjustable voltage adapter, and the voltage adjustment range is 5–12V.

8. A real-time control method for static balance of a wearable tactile feedback device, characterized in that: Using the system according to any one of claims 1 to 4, the specific steps include: a) Initialize and establish Bluetooth and USB connections; b) Select the mapping model and set the parameters in the interactive interface; c) After zero point calibration, have the user stand still for a preset time to obtain baseline values ​​for weight and center of pressure; d) continuously collect pressure data, periodically calculate the real-time lateral offset of the pressure center, generate feedback instructions based on the selected mapping model, and output normal pressure; e) Automatically save all original and processed data after the control is completed.

9. The method according to claim 8, characterized in that The zero point calibration step uses a sampling frequency of 1000 Hz to collect at least 1000 frames of pressure data, uses a sliding average algorithm to obtain a zero point compensation value for each channel, and subtracts the compensation value in subsequent data processing.

10. The method according to claim 8, characterized in that The generation of the feedback instruction follows the following rules: a) When a linear model is used, the feedback output is proportional to the lateral offset of the pressure center, with a proportionality factor of k; b) When the quadratic model is used, the feedback output is proportional to the square of the lateral offset of the pressure center, with a proportionality factor of k; c) When the logarithmic model is used, the feedback output is proportional to the natural logarithm of the lateral offset of the pressure center plus one multiplied by k; d) When the absolute value of the offset is less than the dead zone threshold D, no feedback is output.

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