A force interaction method of an end traction rehabilitation robot, a rehabilitation robot and a storage medium

Abstract

This invention relates to a force interaction method for an end-effector traction rehabilitation robot, the rehabilitation robot itself, and a storage medium. The method involves obtaining the relationship between the velocity of the end-effector contact point and the joint angular velocity of the end-effector traction rehabilitation robot; then calculating the dynamic torque of the connecting rod of the end-effector traction rehabilitation robot based on the dynamic equations; next, solving for the end-effector contact force at point i of the connecting rod based on the collected data; finally, adjusting the force parameters of the end-effector traction rehabilitation robot based on the end-effector contact force and the stiffness of the contact material. This allows for force interaction under different working conditions, enabling the end-effector traction robot to function as a flexible manipulation tool. By rationally designing parameters, the interaction torque between the human body and the robot can be transformed into the robot's desired motion trajectory. Simultaneously, the inherent motion errors of the rehabilitation platform are avoided, thus enabling better rehabilitation training for patients and improving the user experience.

Description

Technical Field

[0001] This application relates to the field of rehabilitation robots, specifically to a force interaction method for an end-effector rehabilitation robot, the rehabilitation robot, and a storage medium. Background Technology

[0002] Currently, the number of people with movement disorders in our country is increasing. According to social science data, approximately two out of every hundred people have limb disabilities. Because lower limb movement disorders directly affect patients' daily activities, they also have a significant impact on the work and quality of life of patients and their families. Therefore, lower limb rehabilitation has gradually become a hot topic of concern in medicine and society. The main goal of rehabilitation training for people with lower limb movement disorders is to restore leg strength in a timely and effective manner. Traditional rehabilitation treatment requires professional medical staff to complete effectively, resulting in a large demand for personnel and high requirements for rehabilitation physicians. This makes it difficult to meet the rehabilitation training needs and achieve the desired results for the large number of patients with lower limb movement disorders in my country. Compared with traditional rehabilitation training methods, using rehabilitation institutions to perform this repetitive work can significantly reduce labor costs, shorten the rehabilitation cycle, and allow for personalized approaches, developing different models for each individual and adjusting training modes and parameters in a timely manner to achieve the best training results.

[0003] Traditional end-effector traction rehabilitation robots, both domestically and internationally, are mostly wearable and employ rigid serial mechanisms. These traditional mechanisms have significant drawbacks, such as large footprint, small working range, high rigidity, and complex structure. They cannot meet the patient's requirements for robot compliance during training. Furthermore, current lower limb traction robots are driven by humans on-site using non-powered hinges, causing unavoidable electromagnetic radiation to the operators. Moreover, there is no feedback mechanism during the robot's movement, making it susceptible to the inherent motion errors of the platform during rehabilitation training.

[0004] Therefore, there is an urgent need for a force interaction method for end-effector rehabilitation robots to avoid the influence of inherent motion errors in rehabilitation platforms, thereby enabling better rehabilitation training for patients. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the above-mentioned technical solutions by providing a force interaction method for an end-effector traction rehabilitation robot, which can meet the force interaction requirements under different working conditions. The end-effector traction robot can thus serve as a flexible operating tool. By rationally designing parameters, the interaction torque between the human body and the robot can be transformed into the robot's desired motion trajectory. At the same time, the influence of the inherent motion error of the rehabilitation platform can be avoided, thereby enabling better rehabilitation training for patients and improving the user experience.

[0006] To achieve the above objectives, according to one aspect of the present invention, a force interaction method for an end-effector traction rehabilitation robot is provided, comprising the following steps:

[0007] Step 1: Obtain the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity;

[0008] Step 2: Calculate the dynamic torque of the link of the end-effector rehabilitation robot based on the dynamic equation;

[0009] Step 3: The torque sensor collects data at point i of the connecting rod;

[0010] Step 4: Calculate the end contact force of link i based on the data collected in Step 3;

[0011] Step 5: Adjust the force parameters of the end-effector robot based on the end contact force obtained in Step 4 and the stiffness of the contact material.

[0012] Specifically, in step 1, the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity is as follows:

[0013]

[0014]

[0015] In the formula, v E Let ω be the velocity vector of the end contact point of the end-effector rehabilitation robot, and ω6 be the angular velocity vector of the sixth link of the end-effector rehabilitation robot. J represents the joint angle angular velocity of the six joints of the end-effector rehabilitation robot. E Let J6 be the Jacobian matrix of the sixth link, E3 be the third-order identity matrix, and r be the Jacobian matrix of the sixth link. 6E Let S be the position vector of the end contact point of the sixth link relative to the coordinate system of the sixth link, and let S be the cross product matrix of the vectors.

[0016] It is worth emphasizing that the end contact point of the end-effector traction robot is the point on the sixth link of the end-effector contact robot that contacts the limb of the person to be rehabilitated.

[0017] Specifically, step 1 includes:

[0018] Step 1.1: Obtain the rigid body's six motion parameters With the angles of the six joints The mapping relationship;

[0019] Specifically, the rigid body six motion parameters With the angles of the six joints The mapping relationship is as follows:

[0020]

[0021] In the formula, v6 is the velocity vector of the sixth link of the end effector traction rehabilitation robot, and ω6 is the angular velocity vector of the sixth link of the end effector traction rehabilitation robot. These are the joint angle angular velocities of the six joints of the end-effector rehabilitation robot, and J6 is the Jacobian matrix of the sixth link.

[0022] Furthermore, the mapping relationship between the six motion parameters of the rigid body and the angular velocities of the six joints is obtained using the robot vector product method;

[0023] Step 1.2: Obtain the relationship between the rigid body's six motion parameters at the origin and the end contact point;

[0024] Specifically, the relationship between the rigid body's six motion parameters at the origin and the end contact point is as follows:

[0025]

[0026] In the formula, v E Let ω be the velocity vector of the end contact point of the end-effector rehabilitation robot, and ω6 be the angular velocity vector of the sixth link of the end-effector rehabilitation robot. J represents the joint angle angular velocity of the six joints of the end-effector rehabilitation robot. E The end Jacobian matrix of the sixth link;

[0027] Step 1.3: Based on Step 1.1 and Step 1.2, obtain the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity;

[0028] Specifically, the dynamic torque of the connecting rod calculated based on the dynamic equations includes:

[0029] Let the angular velocity, angular acceleration, origin acceleration, and center-of-mass acceleration of link i of the end-effector rehabilitation robot be respectively:

[0030]

[0031]

[0032]

[0033]

[0034] In the formula, i ω iLet be the angular velocity of link i. Let be the attitude matrix of link i. i-1 ω i-1 Let i-1 be the angular velocity of link i-1. Let be the angular velocity of the i-th joint angle, and let e3 be a unit vector, expressed as e3 = (001). T , Let be the angular acceleration of link i. Let i-1 be the angular acceleration of link i-1. Let be the angular acceleration of joint i; i a i Let be the acceleration at the origin of link i. i-1 a i-1 Let i-1 be the acceleration at the origin. i-1 p i Let be the coordinates of link i. i a Ci Let x be the coordinates and acceleration of the center of mass of link i. i p Ci Let be the coordinates of the centroid of link i;

[0035] Then, the inertial force and inertial torque of link i are obtained;

[0036] Specifically, the inertial force and inertial torque of the connecting rod i are as follows:

[0037] i f Ci =m i i a Ci

[0038]

[0039] In the formula, i f Ci Let m be the inertial force of link i. i Let i be the mass of link i. i n Ci Let be the moment of inertia of link i. Ci I i Let be the inertia matrix of the center-of-mass coordinate system of link i;

[0040] Furthermore, the force balance and moment balance equations for link i are obtained as follows:

[0041]

[0042]

[0043] In the formula, i f i To achieve force balance, the contact force of link i, Let i+1 be the attitude matrix of link i+1. i+1 f i+1 The contact force of link i+1 when force equilibrium is achieved. i f Ci Let be the contact force of link i when force equilibrium is achieved in the center-of-mass coordinate system. i n i To achieve torque balance, the dynamic torque of link i, n i+1 To achieve torque balance, the dynamic torque of link i+1, i n Ci Let be the dynamic torque of link i in the center-of-mass coordinate system. i p i+1 Let i+1 be the coordinate of link i;

[0044] Finally, the dynamic torque at link i is calculated using the above formula:

[0045] τ i = i n i e3

[0046] In the formula, τ i The dynamic torque of link i. i n i The dynamic torque of link i when torque balance is achieved;

[0047] Specifically, the data collected by the torque sensor at link i is denoted as s. i ;

[0048] Specifically, calculating the end contact force of link i based on the data collected in step 3 includes: using the formula:

[0049]

[0050] τ=(τ1τ2τ3τ4τ5τ6) T

[0051] s = (s1s2s3s4s5s6) T

[0052] Solve for the end contact force;

[0053] In the formula, f E n is the end contact force of the connecting rod i. E The contact force torque at the end contact point, τ2 dynamic torque at link i, and s is the data at link i collected by the torque sensor;

[0054] Specifically, the robot end contact is equivalent to a dynamic spring-damped system. By utilizing the material properties of the end contact of the end-effector rehabilitation robot, the six-dimensional coordinate dynamic adjustment data of the end contact point is obtained. Then, the torque dynamic adjustment data of the six joints of the end-effector rehabilitation robot is calculated. Finally, the joint motors are driven to move, thereby realizing the dynamic adjustment of the equivalent spring stiffness and damping of the robot end.

[0055] Through the adjustments made in the above steps, the end-effector traction rehabilitation robot can meet the force interaction requirements under different working conditions. The end-effector traction robot can thus serve as a flexible operating tool. By reasonably designing parameters, the interaction torque between the human body and the robot can be transformed into the robot's desired motion trajectory. At the same time, the influence of the inherent motion error of the rehabilitation platform can be avoided, thereby enabling better rehabilitation training for patients and improving the user experience.

[0056] According to another aspect of the present invention, the present invention also includes an end-effector traction rehabilitation robot, wherein a force feedback and remote control module is included for performing the force interaction method of the end-effector traction rehabilitation robot described above.

[0057] According to another aspect of the invention, the invention also includes a computer-readable storage medium storing a data processing program, which is executed by a processor using the force interaction method of the end-effector rehabilitation robot described above.

[0058] Based on the above technical solution, the force interaction method of the end-effector traction rehabilitation robot provided in this application has the following technical effects:

[0059] This invention, by setting a force interaction method for an end-effector traction rehabilitation robot, can meet the force interaction requirements under different working conditions. This allows the end-effector traction robot to function as a flexible operating tool. By rationally designing parameters, the interaction torque between the human body and the robot can be transformed into the robot's desired motion trajectory. At the same time, it avoids the influence of the inherent motion error of the rehabilitation platform, thereby enabling better rehabilitation training for patients and improving the user experience. Attached Figure Description

[0060] The accompanying drawings, which form part of this document, are used to provide a further understanding of the document. The illustrative embodiments and descriptions herein are used to explain the document and do not constitute an undue limitation thereof. In the drawings:

[0061] Figure 1 A flowchart illustrating a force interaction method for an end-effector traction rehabilitation robot provided in this application embodiment;

[0062] Figure 2A flowchart illustrating the relationship between the velocity of the end contact point and the joint angular velocity of the end-effector rehabilitation robot, provided as an embodiment of this application. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments described herein clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments described herein, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are within the scope of protection of this document. It should be noted that, unless otherwise specified, the embodiments and features described herein can be arbitrarily combined with each other.

[0064] Unless the context explicitly requires it, the words "comprising," "including," or similar terms throughout the specification and claims should be interpreted as encompassing rather than being exclusive or exhaustive; that is, meaning "including but not limited to."

[0065] Example 1

[0066] like Figure 1 As shown, a force interaction method for an end-effector traction rehabilitation robot includes the following steps:

[0067] Step 1: Obtain the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity;

[0068] Specifically, the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity is as follows:

[0069]

[0070]

[0071] In the formula, v E Let ω be the velocity vector of the end contact point of the end-effector rehabilitation robot, and ω6 be the angular velocity vector of the sixth link of the end-effector rehabilitation robot. J represents the joint angle angular velocity of the six joints of the end-effector rehabilitation robot. E Let J6 be the Jacobian matrix of the sixth link, E3 be the third-order identity matrix, and r be the Jacobian matrix of the sixth link. 6E Let S be the position vector of the end contact point of the sixth link relative to the coordinate system of the sixth link, and let S be the cross product matrix of the vectors.

[0072] It is worth emphasizing that the end contact point of the end-effector traction robot is the point on the sixth link of the end-effector contact robot that contacts the limb of the person to be rehabilitated.

[0073] Specifically, such as Figure 2 As shown, step 1 specifically includes:

[0074] Step 1.1: Obtain the rigid body's six motion parameters With the angles of the six joints The mapping relationship;

[0075] Specifically, the rigid body six motion parameters With the angles of the six joints The mapping relationship is as follows:

[0076]

[0077] In the formula, v6 is the velocity vector of the sixth link of the end effector traction rehabilitation robot, and ω6 is the angular velocity vector of the sixth link of the end effector traction rehabilitation robot. These are the joint angle angular velocities of the six joints of the end-effector rehabilitation robot, and J6 is the Jacobian matrix of the sixth link.

[0078] Furthermore, the mapping relationship between the six motion parameters of the rigid body and the angular velocities of the six joints is obtained using the robot vector product method;

[0079] Step 1.2: Obtain the relationship between the rigid body's six motion parameters at the origin and the end contact point;

[0080] Specifically, the relationship between the rigid body's six motion parameters at the origin and the end contact point is as follows:

[0081]

[0082] In the formula, v E Let ω be the velocity vector of the end contact point of the end-effector rehabilitation robot, and ω6 be the angular velocity vector of the sixth link of the end-effector rehabilitation robot. J represents the joint angle angular velocity of the six joints of the end-effector rehabilitation robot. E The end Jacobian matrix of the sixth link;

[0083] Step 1.3: Based on Step 1.1 and Step 1.2, obtain the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity.

[0084] Step 2: Calculate the dynamic torque of the link of the end-effector rehabilitation robot based on the dynamic equation;

[0085] Specifically, the dynamic torque of the connecting rod calculated based on the dynamic equations includes:

[0086] Let the angular velocity, angular acceleration, origin acceleration, and center-of-mass acceleration of link i of the end-effector rehabilitation robot be respectively:

[0087]

[0088]

[0089]

[0090]

[0091] In the formula, i ω i Let be the angular velocity of link i. Let be the attitude matrix of link i. i-1 ω i-1 Let i-1 be the angular velocity of link i-1. Let be the angular velocity of the i-th joint angle, and let e3 be a unit vector, expressed as e3 = (001). T , Let be the angular acceleration of link i. Let i-1 be the angular acceleration of link i-1. Let be the angular acceleration of joint i; i a i Let be the acceleration at the origin of link i. i-1 a i-1 Let i-1 be the acceleration at the origin. i-1 p i Let be the coordinates of link i. i a Ci Let x be the acceleration of the center of mass of link i. i p Ci Let be the coordinates of the centroid of link i;

[0092] Then, the inertial force and inertial torque of link i are obtained;

[0093] Specifically, the inertial force and inertial torque of the connecting rod i are as follows:

[0094] i f Ci =m i i a Ci

[0095]

[0096] In the formula, i f Ci Let m be the inertial force of link i.i Let i be the mass of link i. i n Ci Let be the moment of inertia of link i. Ci I i Let be the inertia matrix of the center-of-mass coordinate system of link i;

[0097] Furthermore, the force balance and moment balance equations for link i are obtained as follows:

[0098]

[0099]

[0100] In the formula, i f i To achieve force balance, the contact force of link i, Let i+1 be the attitude matrix of link i+1.

[0101] i+1 f i+1 The contact force of link i+1 when force equilibrium is achieved. i f Ci Let be the contact force of link i when force equilibrium is achieved in the center-of-mass coordinate system. i n i To achieve torque balance, the dynamic torque of link i, n i+1 To achieve torque balance, the dynamic torque of link i+1, i n Ci Let be the dynamic torque of link i in the center-of-mass coordinate system. i p i+1 Let i+1 be the coordinate of link i;

[0102] Finally, the dynamic torque at link i is calculated using the above formula:

[0103] τ i = i n i e3

[0104] In the formula, τ i The dynamic torque of link i. i n i The dynamic torque of link i when torque balance is achieved;

[0105] Step 3: The torque sensor collects data at point i of the connecting rod;

[0106] Specifically, the data collected by the torque sensor at link i is denoted as s. i ;

[0107] Step 4: Calculate the end contact force of link i based on the data collected in Step 3;

[0108] Specifically, calculating the end contact force of link i based on the data collected in step 3 includes: using the formula:

[0109]

[0110] τ=(τ1τ2τ3τ4τ5τ6) T

[0111] s = (s1s2s3s4s5s6) T

[0112] Solve for the end contact force;

[0113] In the formula, f E n is the end contact force of the connecting rod i. E The contact force torque at the end contact point, τ2 dynamic torque at link i, and s is the data at link i collected by the torque sensor;

[0114] Step 5: Based on the end contact force obtained in Step 4 and the stiffness of the contact material, adjust the force parameters of the end-effector robot.

[0115] Specifically, the robot end contact is equivalent to a dynamic spring-damped system. By utilizing the material properties of the end contact of the end-effector rehabilitation robot, the six-dimensional coordinate dynamic adjustment data of the end contact point is obtained. Then, the torque dynamic adjustment data of the six joints of the end-effector rehabilitation robot is calculated. Finally, the joint motors are driven to move, thereby realizing the dynamic adjustment of the equivalent spring stiffness and damping of the robot end.

[0116] Through the adjustments made in the above steps, the end-effector traction rehabilitation robot can meet the force interaction requirements under different working conditions. This end-effector traction robot can thus serve as a flexible operating tool. By rationally designing parameters, the interaction torque between the human body and the robot can be transformed into the robot's desired motion trajectory. At the same time, the influence of the inherent motion error of the rehabilitation platform can be avoided, thereby enabling better rehabilitation training for patients and improving the user experience.

[0117] Example 2

[0118] This embodiment also includes an end-effector traction rehabilitation robot, which includes a force feedback and remote control module for executing the force interaction method of the end-effector traction rehabilitation robot of Embodiment 1.

[0119] Example 3

[0120] This embodiment includes a computer-readable storage medium storing a data processing program, which is executed by a processor using the force interaction method of the end-effector rehabilitation robot of Embodiment 1.

[0121] Those skilled in the art will understand that the embodiments described herein can be provided as methods, apparatus (devices), or computer program products. Therefore, this document may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this document may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. Computer storage media include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data), including but not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0122] This document is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments herein. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0123] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0124] Although preferred embodiments have been described herein, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this document.

[0125] Obviously, those skilled in the art can make various modifications and variations to this document without departing from its spirit and scope. Thus, if such modifications and variations fall within the scope of the claims and their equivalents, the intent of this document also includes such modifications and variations.

Claims

1. A force interaction method for an end-effector traction rehabilitation robot, characterized in that: include: Step 1: Obtain the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity; in Step 1, the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity is: In the formula, The velocity vector of the end contact point of the end-effector rehabilitation robot. Let be the angular velocity vector of the sixth link of the end-effector rehabilitation robot. , , , , , These are the joint angle angular velocities of the six joints of the end-effector rehabilitation robot. Let Jacobian matrix be the end-point Jacobian matrix of the sixth link. The Jacobian matrix for the sixth link. It is a third-order identity matrix. Let be the position vector of the end contact point of link 6 relative to the coordinate system of link 6. Let be the cross product matrix of vectors; Step 2: Calculate the dynamic torque of the link of the end-effector rehabilitation robot based on the dynamic equation; Step 3: The torque sensor collects data at point i of the connecting rod; Step 4: Calculate the end contact force at link i based on the data collected in step 3; Step 5: Adjust the force parameters of the end-effector rehabilitation robot based on the end contact force obtained in Step 4 and the stiffness of the contact material.

2. The force interaction method of the end-effector traction rehabilitation robot according to claim 1, characterized in that, The end contact point of the end-effector traction robot is the point on the sixth link of the end-effector contact robot that makes contact with the limb of the person to be rehabilitated.

3. The force interaction method of the end-effector traction rehabilitation robot according to claim 1, characterized in that, Step 1 specifically includes: Step 1.1: Obtain the rigid body's six motion parameters With the angles of the six joints The mapping relationship; Step 1.2: Obtain the relationship between the rigid body's six motion parameters at the origin and the end contact point; Step 1.3: Based on Step 1.1 and Step 1.2, obtain the relationship between the velocity of the end contact point of the end-effector rehabilitation robot and the joint angular velocity.

4. The force interaction method of the end-effector traction rehabilitation robot according to claim 3, characterized in that, In step 1.1, the rigid body six motion parameters With the angles of the six joints The mapping relationship is as follows: In the formula, Let V be the velocity vector of the sixth link of the end-effector rehabilitation robot. Let be the angular velocity vector of the sixth link of the end-effector rehabilitation robot. , , , , , These are the joint angle angular velocities of the six joints of the end-effector rehabilitation robot. Let be the Jacobian matrix of the sixth link.

5. The force interaction method of the end-effector traction rehabilitation robot according to claim 4, characterized in that, The mapping relationship between the six motion parameters of the rigid body and the angular velocities of the six joints is obtained using the robot vector product method.

6. The force interaction method of the end-effector traction rehabilitation robot according to claim 4, characterized in that, In step 1.2, the relationship between the rigid body's six motion parameters at the origin and the end contact point is specifically as follows: In the formula, The velocity vector of the end contact point of the end-effector rehabilitation robot. Let be the angular velocity vector of the sixth link of the end-effector rehabilitation robot. , , , , , These are the joint angle angular velocities of the six joints of the end-effector rehabilitation robot. Let be the Jacobian matrix of the end of the sixth link.

7. The force interaction method of the end-effector traction rehabilitation robot according to claim 4, characterized in that, The dynamic torque of the connecting rod calculated based on the dynamic equations specifically includes: Let the angular velocity, angular acceleration, origin acceleration, and center-of-mass acceleration of link i of the end-effector rehabilitation robot be respectively: In the formula, Let be the angular velocity of link i. Let be the attitude matrix of link i. Let i-1 be the angular velocity of link i-1. Let be the angular velocity of the i-th joint angle. For a unit vector, its expression is: , Let be the angular acceleration of link i. Let i-1 be the angular acceleration of link i-1. Let be the angular acceleration of joint i; Let be the acceleration at the origin of link i. Let i-1 be the acceleration at the origin. Let be the coordinates of link i. Let x be the coordinates and acceleration of the center of mass of link i. Let be the coordinates of the centroid of link i; Get the link Inertial force and inertial torque; The connecting rod The inertial force and inertial torque are specifically as follows: In the formula, The inertial force of link i, Let i be the mass of link i. Let be the moment of inertia of link i. Let be the inertia matrix of the center-of-mass coordinate system of link i; The force balance and moment balance equations for link i are obtained as follows: In the formula, To achieve force balance, the contact force of link i, Let i+1 be the attitude matrix of link i+1. The contact force of link i+1 when force equilibrium is achieved. Let be the contact force of link i when force equilibrium is achieved in the center-of-mass coordinate system. To achieve torque balance, the dynamic torque of link i, To achieve torque balance, the dynamic torque of link i+1, Let be the dynamic torque of link i in the center-of-mass coordinate system. Let i+1 be the coordinate of link i; Finally, the dynamic torque at link i is calculated using the above formula: In the formula, The dynamic torque of link i. The dynamic torque of link i when torque balance is achieved; The data collected by the torque sensor at point i on the connecting rod is recorded as follows: The step of calculating the end contact force of link i based on the data collected in step 3 specifically includes: using the formula: Solve for the end contact force; In the formula, The end contact force of the connecting rod i. The torque of the contact force at the end contact point. The dynamic torque at link i, where s is the data at link i collected by the torque sensor.

8. An end-effector traction rehabilitation robot, characterized in that: Includes a force feedback and remote control module for performing the force interaction method of the end-effector traction rehabilitation robot according to any one of claims 1-7.

9. A computer-readable storage medium storing a data processing program, the data processing program being executed by a processor of the force interaction method of the end-effector rehabilitation robot according to any one of claims 1-7.

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