A wearable robot and control method for assisting work

Abstract

The present invention relates to a wearable robot and control method for assisting work, which is applied to the aircraft assembly process to assist workers in completing work. In view of the different heights and working scenes of operators, the structure of the wearable robot can be changed to adapt to different working environments. The present invention includes a wearable assistive device, a variable degree of freedom mechanical arm and a sensor detection module. The wearable assistive device is worn on the shoulders of the human body, and the variable degree of freedom mechanical arm is fixed on the wearable assistive device; the variable degree of freedom mechanical arm is composed of a shoulder module, an elbow module, a wrist module, and an end execution module. The modules are connected to a thin-walled connecting rod through a mounting plate, and the mounting plate can move up and down along the limiting groove inside the thin-walled connecting rod to realize the expansion and contraction between the modules; the sensor detection module includes a thin film pressure sensor, an inertial measurement unit, a force sensing module, a motion and gesture recognition module, and a visual module to realize the interaction between the wearable robot and the working environment.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable robots, in particular to an external limb robot for assisting work. Background Art

[0002] An exo-limb robot is a robot that can be fixed to the human body by wearable means and can assist the human body in completing certain tasks. It is a new type of wearable robot. Unlike exoskeleton robots and prostheses, wearable robots are an extension of human limbs. They enhance the human body's ability to move, perceive, and operate by docking, integrating, and cooperating with mechanical limbs and human limbs. Wearable robots are not bound to the original limbs and are equivalent to additional limbs of the human body. They can help the human body complete many tasks that cannot be completed with the original limbs alone. They have broad application prospects in industrial production, medical rehabilitation, assistance for the elderly and the disabled, and life services. For example, in the process of assembling the ceiling of an aircraft, the use of exo-limbs to assist in the installation of the ceiling can replace the traditional two-person collaborative installation method and reduce labor costs. However, there are also some problems in using exo-limbs to assist in work tasks. The heights of different operators are different, and there are also differences in the working heights of different work scenes.

[0003] After checking the existing technical documents, it was found that:

[0004] Chinese Patent (Application No. 202023121159.9): A retractable bionic exolimb robotic arm. This patent mainly provides a retractable bionic exolimb robotic arm. Based on the bionic concept, its degrees of freedom and configuration are configured with reference to the human arm model, and the retractable degrees of freedom are introduced, which increases the working space without affecting the dexterity. However, the exolimb robotic arm has only one retractable joint, and the degrees of freedom do not change before and after the retraction; in the non-working state, it occupies a large space, and its exolimb module is designed as an integral structure, which is not easy to disassemble.

[0005] Chinese patent (application number 202023121258.7): A foldable and retractable exolimb manipulator with a streamlined shell, which consists of a telescopic module and multiple rotating modules. The telescopic module can be retracted in two stages to increase the working space; the rotating module can be folded to make the exolimb manipulator compact when not in operation. However, the modules cannot be retracted, and the retracting function is actively retracted by the servo, and the degree of freedom before and after the retraction does not change.

[0006] Therefore, a new technical solution is needed to solve the above technical problems. Summary of the invention

[0007] In response to the above problems, the present invention provides a wearable robot and a control method for assisting work, which can change the structure of the wearable robot itself according to the height of the wearer and the working scene to adapt to different working environments.

[0008] In order to achieve the above-mentioned objective functions, the wearable robot control method for auxiliary operation of the present invention adopts the following technical solutions:

[0009] A control method for a wearable robot for assisting work, the robot comprises a wearable assistive device and a variable degree of freedom mechanical arm connected to the upper end of the wearable assistive device; the variable degree of freedom mechanical arm comprises a shoulder module, an elbow module, a wrist module, and an end-effector module; the shoulder module comprises a shoulder drive unit mounted on the top of the wearable assistive device and a shoulder thin-walled connecting rod mounted on the shoulder drive unit; a cavity is provided inside the shoulder thin-walled connecting rod and a first film pressure sensor is provided at the bottom of the cavity; the elbow module comprises an elbow drive unit and an elbow thin-walled connecting rod mounted on the elbow drive unit, a cavity is provided inside the elbow thin-walled connecting rod and a second film pressure sensor is provided at the bottom of the cavity; the wrist module comprises a wrist drive unit and a wrist connecting rod, and the end-effector module is installed at the front end of the wrist connecting rod; the elbow module is located inside the shoulder thin-walled connecting rod and can be telescopic relative to the shoulder thin-walled connecting rod; the wrist module is located inside the elbow thin-walled connecting rod and can be telescopic relative to the elbow thin-walled connecting rod;

[0010] The method comprises the following steps:

[0011] (1) The operator establishes a communication connection with the wearable robot and sends a task start signal;

[0012] (2) The wearable robot obtains information about the current working mode; the working mode entered by the wearable robot is determined according to the signals generated by the first film pressure sensor and the second film pressure sensor; the wearable robot has four working modes; mode 0 is that the wrist module is retracted into the elbow module and presses the second film pressure sensor, the elbow module is retracted into the shoulder module and presses the first film pressure sensor, and the degree of freedom of the robotic arm is 4; mode 1 is that the wrist module extends out of the elbow module; the elbow module is retracted into the shoulder module, and the degree of freedom of the robotic arm is 5; mode 2 is that the wrist module is retracted into the elbow module, the elbow module extends out of the shoulder module, and the degree of freedom of the robotic arm is 5; mode 3 is that the wrist module extends out of the elbow module, the elbow module extends out of the shoulder module, and the degree of freedom of the robotic arm is 6;

[0013] (3) Obtaining the position information from the work scene to the human head;

[0014] (4) determining whether the working scene is within the scope of the current working mode according to the position information;

[0015] (5) if the location information is not within the range of the current working mode, selecting a suitable working mode according to the location information;

[0016] (6) The wearable robot sends working mode information to the operator, and the operator adjusts the configuration according to the working mode information;

[0017] (7) The operator sends a task completion signal, and the wearable robot receives the signal and reacquires the adjusted working mode information.

[0018] Furthermore, it also includes a visual module, a motion and gesture recognition module, a force sensing module, and an inertial conduction element; the control method of the wearable robot is: obtaining the position information from the working scene to the human head through the visual module, and calculating the position information of the target position relative to the robot base through coordinate conversion; obtaining the motion information of the operator's arm through the motion and gesture recognition module to control the wearable robot to start and stop running; after the end effector contacts the target position, the force sensing module obtains the feedback force of the robot end, so that the wearable robot maintains a stable end position during the auxiliary operation process; the disturbance of the robot base is detected by the inertial conduction element on the wearable assistive device to compensate for the movement of the wearable robot.

[0019] Furthermore, the stable control of the end position of the wearable robot is realized based on the admittance control model with human disturbance term, and the specific mathematical formula is as follows:

[0020]

[0021] ΔF=F f -F d

[0022] Ax=x f -x d

[0023] Among them, M k is the inertial parameter of the wearable robot, B k is the damping parameter, K z is the stiffness parameter, and the values ​​of the three change as the wearable robot changes mode; Δx is the difference between the actual position and the expected position, is the difference between the actual speed and the expected speed, is the difference between the actual acceleration and the expected acceleration, ΔF is the difference between the actual feedback force at the end and the expected force at the end; Δd is the human body disturbance term, which is detected by the inertial conduction element on the wearable assistive device; F f is the actual feedback force of the end effector, measured by the force sensing module in the auxiliary support device, F dis the desired force of the end effector, whose value is determined according to the working environment and adjusted according to the operator's intention; x f is the actual position of the end effector, which is obtained by calculating the angle information returned by the drive unit. d is the desired position of the end effector, which is calculated using the above formula.

[0024] The present invention also provides a technical solution for a wearable robot for assisting work, including a wearable assistive device, a variable degree of freedom mechanical arm and a sensor detection module;

[0025] The wearable assistive device includes a connecting shoulder strap, a shoulder base, and a wearing backpack. The connecting shoulder strap is used to connect and fix the shoulder base, and the wearing backpack is used to place a power supply and a controller.

[0026] The variable degree of freedom robotic arm comprises a shoulder module, an elbow module, a wrist module and an end execution module; the shoulder module comprises a shoulder driving unit installed on the top of the wearable assistive device and a shoulder thin-walled connecting rod installed on the shoulder driving unit; a cavity is provided inside the shoulder thin-walled connecting rod and a first film pressure sensor is provided at the bottom of the cavity; the elbow module comprises an elbow driving unit and an elbow thin-walled connecting rod installed on the elbow driving unit, a cavity is provided inside the elbow thin-walled connecting rod and a second film pressure sensor is provided at the bottom of the cavity; the wrist module comprises The wrist drive unit and the wrist connecting rod are included, and the end execution module is installed at the front end of the wrist connecting rod; the elbow module is located inside the shoulder thin-walled connecting rod and can be extended and retracted relative to the shoulder thin-walled connecting rod; the wrist module is located inside the elbow thin-walled connecting rod and can be extended and retracted relative to the elbow thin-walled connecting rod; the installation plate of the elbow drive unit is provided with four convex ridges extending outward, and the inner wall of the shoulder thin-walled connecting rod is provided with corresponding limiting grooves, and the elbow drive unit moves up and down along the inner groove of the thin-walled connecting rod; the connection method of the wrist module and the end execution module is consistent with that of the elbow module;

[0027] The sensing detection module includes a force sensing module, a vision module, an inertial measurement unit, a motion and gesture recognition module, and a thin film pressure sensor.

[0028] Furthermore, the wearable robot obtains the current working mode information through a thin film pressure sensor. A thin film pressure sensor is installed at the bottom of the thin-walled connecting rod of the shoulder module and the elbow module to detect the contraction and expansion state between the modules. The working mode entered by the wearable robot is judged according to the signal generated by the thin film pressure sensor; the position information from the working scene to the human head is obtained through the visual module. The visual module is worn on the operator's head to measure the position information from the working scene to the human head; the task start and end signals are completed through the motion and gesture recognition module. When the operator is detected to make a preset start gesture or end gesture, the task starts or ends.

[0029] Furthermore, the elbow drive unit includes a servo, a servo housing and a servo mounting plate, wherein two of the four ridges on the servo mounting plate are equipped with metal probes, and the other two ridges are equipped with magnets; electronic circuits and magnetic sheets are installed on the track inside the thin-walled connecting rod; wherein the magnets in the ridges are attracted to the magnetic sheets inside the track for limiting the position; the metal probes in the ridges of the mounting plate are connected to the electronic circuits in the thin-walled connecting rod track through wires to form a loop, and when the drive unit moves, the resistance value in the loop changes, and the change in voltage in the loop is measured by a controller to calculate the position of the drive unit in the thin-walled connecting rod.

[0030] Beneficial effects:

[0031] The present application provides a wearable robot for assisting work, wherein the variable-degree-of-freedom robotic arm is composed of modular units. The modular units are easy to disassemble, replace and maintain, and the modular units can be contracted and expanded. The wearable robot has multiple modes to switch between for different human body heights and different working scenarios, and can adapt to different working heights.

[0032] A wearable robot used for assisting work also has a structural adaptive function. The wearable robot obtains the position information of the work scene to the human head through a visual module worn on the operator's head. The wearable robot selects the corresponding working mode according to the position information. After the operator obtains the working mode information, he adjusts the configuration of the wearable robot to adapt to the current working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A three-dimensional diagram of an operator wearing the wearable robot of the present invention.

[0034] Figure 2 Schematic diagram of wearable assistive device.

[0035] Figure 3 Schematic diagram of a variable degree of freedom robotic arm.

[0036] Figure 4 This is the exploded view of the elbow module.

[0037] Figure 5 This is the cross-sectional view of the thin-walled connecting rod at the shoulder.

[0038] Figure 6 Working mode for wearable robots.

[0039] Figure 7 Flowchart for structural adaptation implementation.

[0040] Figure 8 Flowchart for obtaining working mode information for a wearable robot.

[0041] Fig. 9 Schematic diagram of the principle of wearable robot end position stability control.

[0042] Wherein: wearable assistive device 1, variable degree of freedom robotic arm 2, sensor detection module 3, connecting shoulder strap 101, shoulder base 102, wearable backpack 103, shoulder module 201, elbow module 202, wrist module 203, end execution module 204, shoulder drive unit 2011, shoulder thin-walled connecting rod 2012, electronic circuit 2012-1, magnetic sheet 2012-2, elbow drive unit 2021, servo 2021-1, servo housing 2021-2, slide 2021-3, magnet 2021-4, elbow thin-walled connecting rod 2022, wrist drive unit 2031, wrist thin-walled connecting rod 2032, end drive unit 2041, auxiliary support device 2042, force sensing module 301, vision module 302, inertial measurement unit 303, motion and gesture recognition module 304 and thin film pressure sensor 305. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below:

[0044] like Figure 1-5 As shown, a wearable robot for assisting work includes a wearable assistive device 1, a variable degree of freedom robotic arm 2 and a sensor detection module 3.

[0045] The wearable assistive device 1 is worn on the shoulders of the human body and is composed of a connecting shoulder strap 101, a shoulder base 102, and a wearable backpack 103. The connecting shoulder strap 101 is used to connect and fix the shoulder base 102, and the wearable backpack 103 is used to place a power supply and a controller;

[0046] The variable degree of freedom manipulator 2 is composed of a shoulder module 201, an elbow module 202, a wrist module 203, and an end execution module 204. The shoulder module 201, the elbow module 202, and the wrist module 203 are composed of a drive unit and a thin-walled connecting rod; the end execution module is composed of a drive unit and an auxiliary support device 2042, wherein the drive unit and the thin-walled connecting rod are provided with holes and grooves for routing. The shoulder drive unit 2011 is fixed on the shoulder base 102, and its output end is connected to the shoulder thin-walled connecting rod 2012; the mounting plate of the elbow drive unit 2021 is provided with four convex ridges extending outward, and the inner wall of the shoulder thin-walled connecting rod 2012 is provided with corresponding limiting grooves, and the drive unit can move up and down along the inner groove of the thin-walled connecting rod to realize the contraction and expansion between the modules. The connection method of the wrist module 203 and the end execution module 204 is the same as that of the elbow module 202 , the wrist driving unit 2031 is connected to the elbow thin-walled connecting rod 2022 , and the end driving unit 2041 is connected to the wrist thin-walled connecting rod 2032 .

[0047] The drive unit is composed of a servo 21-1, a servo housing 21-2 and a servo mounting plate, wherein two of the four ridges on the servo mounting plate are equipped with metal probes 2021-3, and the other two ridges are equipped with magnets 2021-4; an electronic circuit 2012-1 and a magnetic sheet 2012-2 are installed on the track inside the thin-walled connecting rod. The magnet 2021-4 in the ridge attracts the magnetic sheet 2012-2 inside the track to limit the position; the metal probe 2021-3 in the ridge of the mounting plate is connected to the electronic circuit 2012-1 in the track of the thin-walled connecting rod through a wire to form a loop. When the drive unit moves, the resistance value in the loop will change, and the change in voltage in the loop can be measured by a controller to calculate the position of the drive unit in the thin-walled connecting rod.

[0048] The sensing detection module is composed of a force sensing module 301, a visual module 302, an inertial measurement unit 303, a motion gesture recognition module 304, and a thin film pressure sensor 305. The force sensing module 301 is installed below the auxiliary support device 2042 to detect the force applied to the end by the working scene during the auxiliary operation; the visual module 302 is worn on the operator's head to obtain the position information from the working scene to the human head; the inertial measurement unit 303 is installed on the shoulder base 102 to measure the human body disturbance of the operator during the work process; the motion and gesture recognition module 304 is worn at the end of the operator's forearm to detect the operator's arm movement and recognize the gestures made by the operator; the thin film pressure sensor 305 is respectively located at the bottom of the shoulder thin-walled connecting rod 2012 and the elbow thin-walled connecting rod 2022 to detect whether the drive unit is retracted to the bottom of the thin-walled connecting rod.

[0049] The wearable robot has 4 working modes, such as Figure 6 From left to right, they are mode 0, mode 1, mode 2, and mode 3. The process of the wearable robot obtaining working mode information is as follows: Figure 8As shown, the working mode information of the wearable robot is obtained according to whether the film pressure sensor 305 in the shoulder module 201 and the elbow module 202 generates a signal. If both thin film pressure sensors 305 generate signals, the working mode of the wearable robot is mode 0, in which the degree of freedom of the robotic arm is 4, and the topological structure is SOC{R⊥R⊥R⊥R}; if only the thin film pressure sensor 305 of the shoulder module unit 201 generates a signal, the working mode of the wearable robot is mode 1, in which the degree of freedom of the robotic arm is 5, and the topological structure is SOC{R⊥R∥R⊥R⊥R}; if only the thin film pressure sensor 305 of the elbow module unit 202 generates a signal, the working mode of the wearable robot is mode 2, in which the degree of freedom of the robotic arm is 5, and the topological structure is SOC{R⊥R∥R⊥R⊥R}; if neither of the two thin film pressure sensors 305 generates a signal, the robotic arm does not contract, and the working mode of the wearable robot is mode 4, in which the degree of freedom of the robotic arm is 6, and the topological structure is SOC{R⊥R∥R∥R⊥R⊥R}.

[0050] Before the wearable robot assists workers in overhead tasks, it needs to select the corresponding mode according to the work scene and the height of the operator. The implementation of structural adaptation includes the following steps:

[0051] Step 1: The operator establishes a communication connection with the wearable robot and sends a task start signal. In this step, the motion and gesture recognition module 304 is used to recognize a preset operator gesture as a task start signal. For example, when the operator makes a fist gesture, the task starts;

[0052] Step 2: The wearable robot obtains the current working mode information. In this step, the wearable robot determines the working mode of the wearable robot by collecting the signals of the film pressure sensor 305 in the shoulder module 201 and the elbow module 202, and obtains the working range information of the current working mode;

[0053] Step 3: Obtaining the position information from the working scene to the human head. In this step, the position information from the working scene to the human head is obtained through the visual module 302 worn on the operator's head;

[0054] Step 4: Determine whether the working scene is within the range of the current working mode according to the position information. In this step, the working range information obtained in step 2 is compared with the position information obtained in step 3;

[0055] Step 5: If the position information is not within the working range, select an appropriate working mode according to the position information. In this step, the position information obtained in step 3 is compared with the working ranges of the other three modes;

[0056] Step 6: The wearable robot sends working mode information to the operator, and the operator adjusts the configuration according to the working mode information. In this step, the operator obtains the mode information sent by the wearable robot through the interface of the visual module 302, and adjusts the contraction and expansion relationship between the modules according to the mode information;

[0057] Step 7: The operator sends a task end signal, and the wearable robot obtains the adjusted working mode information and switches the corresponding wearable robot configuration. In this step, the motion and gesture recognition module 304 is used to recognize the operator's gesture as a task end signal. For example, when the operator makes an open gesture, the task ends.

[0058] After determining the configuration of the wearable robot, the control method is as follows: the position information from the working scene to the human head is obtained through the visual module 302, and the position information of the target position relative to the robot base is calculated through coordinate conversion; the motion information of the operator's arm is obtained through the motion and gesture recognition module 304 to control the wearable robot to start and stop running. For example, when the operator raises his arm, the wearable robot runs to the target position, and when the operator puts down his arm, the wearable robot returns to the initial position; the force sensing module 301 in the auxiliary support device 2042 is used to obtain the feedback force at the end of the robot arm. When the feedback force is lower than the preset threshold, the torque of the drive unit is increased, and when the feedback force is higher than the preset threshold, the torque of the drive unit is reduced. The preset threshold is set according to the actual overhead operation task; the disturbance of the robot base is detected by the inertial conduction element 303 on the wearable assistive device 1 to compensate for the movement of the wearable robot.

[0059] The stable control of the end position of the wearable robot is realized based on the admittance control model with human disturbance term. The specific mathematical formula is as follows:

[0060]

[0061] ΔF=F f -F d

[0062] Ax=x f -x d

[0063] Among them, M k is the inertial parameter of the wearable robot, B k is the damping parameter, K z is the stiffness parameter, and the values ​​of the three change with the change of the mode of the wearable robot. Δx is the difference between the actual position and the expected position, is the difference between the actual speed and the expected speed, is the difference between the actual acceleration and the expected acceleration, ΔF is the difference between the actual feedback force at the end and the expected force at the end. Δd is the human body disturbance term, which is detected by the inertial conduction element 303 on the wearable assistive device 1. F f is the actual feedback force of the end effector, measured by the force sensing module 301 in the auxiliary support device 2042, F d is the desired force of the end effector, which is determined according to the working environment and adjusted according to the operator's intention. f is the actual position of the end effector, which is obtained by calculating the angle information returned by the drive unit. d is the desired position of the end effector, which is calculated using the above formula.

[0064] There are many specific methods and approaches for implementing the present invention, and the above is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and modifications can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A wearable robot control method for assisting work, characterized in that: The robot comprises a wearable assistive device and a variable degree of freedom mechanical arm connected to the upper end of the wearable assistive device; the variable degree of freedom mechanical arm comprises a shoulder module, an elbow module, a wrist module, and an end execution module; the shoulder module comprises a shoulder driving unit installed on the top of the wearable assistive device and a shoulder thin-walled connecting rod installed on the shoulder driving unit; a cavity is provided inside the shoulder thin-walled connecting rod, and a first film pressure sensor is provided at the bottom of the cavity; the elbow module comprises an elbow driving unit and an elbow thin-walled connecting rod installed on the elbow driving unit, a cavity is provided inside the elbow thin-walled connecting rod, and a second film pressure sensor is provided at the bottom of the cavity; the wrist module comprises a wrist driving unit and a wrist connecting rod, and the end execution module is installed at the front end of the wrist connecting rod; the elbow module is located inside the shoulder thin-walled connecting rod and can be telescopic relative to the shoulder thin-walled connecting rod; the wrist module is located inside the elbow thin-walled connecting rod and can be telescopic relative to the elbow thin-walled connecting rod; The method comprises the following steps: (1) The operator establishes a communication connection with the wearable robot and sends a task start signal; (2) The wearable robot obtains information about the current working mode; the working mode entered by the wearable robot is determined according to the signals generated by the first film pressure sensor and the second film pressure sensor; the wearable robot has four working modes; mode 0 is that the wrist module is retracted into the elbow module and presses the second film pressure sensor, the elbow module is retracted into the shoulder module and presses the first film pressure sensor, and the degree of freedom of the robotic arm is 4; mode 1 is that the wrist module extends out of the elbow module; the elbow module is retracted into the shoulder module, and the degree of freedom of the robotic arm is 5; mode 2 is that the wrist module is retracted into the elbow module, the elbow module extends out of the shoulder module, and the degree of freedom of the robotic arm is 5; mode 3 is that the wrist module extends out of the elbow module, the elbow module extends out of the shoulder module, and the degree of freedom of the robotic arm is 6; (3) Obtaining the position information from the work scene to the human head; (4) determining whether the working scene is within the scope of the current working mode according to the position information; (5) if the location information is not within the range of the current working mode, selecting a suitable working mode according to the location information; (6) The wearable robot sends working mode information to the operator, and the operator adjusts the configuration according to the working mode information; (7) The operator sends a task end signal, and the wearable robot receives the signal and reacquires the adjusted working mode information; The stable control of the end position of the wearable robot is realized based on the admittance control model with human disturbance term. The specific mathematical formula is as follows: ΔF=F f -F d Δx=x f -x d Among them, M k is the inertial parameter of the wearable robot, B k is the damping parameter, K z is the stiffness parameter, and the values ​​of the three change as the wearable robot changes mode; Δx is the difference between the actual position and the expected position, is the difference between the actual speed and the expected speed, is the difference between the actual acceleration and the expected acceleration, ΔF is the difference between the actual feedback force at the end and the expected force at the end; Δd is the human body disturbance term, which is detected by the inertial conduction element on the wearable assistive device; F f is the actual feedback force of the end effector, measured by the force sensing module in the auxiliary support device, F d is the desired force of the end effector, whose value is determined according to the working environment and adjusted according to the operator's intention; x f is the actual position of the end effector, which is obtained by calculating the angle information returned by the drive unit. d is the desired position of the end effector, which is calculated using the above formula.

2. The wearable robot control method according to claim 1, characterized in that: It also includes a visual module, a motion and gesture recognition module, a force sensing module, and an inertial conduction element; the control method of the wearable robot is: the position information from the working scene to the human head is obtained through the visual module, and the position information of the target position relative to the wearable robot base is calculated through coordinate conversion; the motion information of the operator's arm is obtained through the motion and gesture recognition module to control the wearable robot to start and stop running; after the end effector contacts the target position, the force sensing module obtains the feedback force of the robot end, so that the wearable robot maintains a stable end position during the auxiliary operation process; the disturbance of the robot base is detected by the inertial conduction element on the wearable assistive device to compensate for the movement of the wearable robot.

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