Dielectric elastomer-rope traction force transmission system and method with end direct drive force compensation

Abstract

The application relates to a dielectric elastomer-rope traction force transmission system and method with end direct-drive force compensation, which comprises a PC / control system, a driver, a data acquisition card, a precision voltage source, a sensing module, a servo motor, a force sensor, a dielectric elastomer driver, an anchoring point, a Bowden wire and a sleeve; the PC / control system is connected with the data acquisition card, lead wires of the data acquisition card are connected with the driver, the force sensor, the precision voltage source and the sensing module respectively; the driver is used for controlling the servo motor; one side of the force sensor is connected with the servo motor through the Bowden wire, the other side of the force sensor is connected with the dielectric elastomer driver through the Bowden wire, the precision voltage source and the sensing module are connected with lead wires in the Bowden wire, and the dielectric elastomer driver is fixed with the anchoring point. The application provides the dielectric elastomer-rope traction force transmission system with end direct-drive force compensation, which can realize accurate control of force in a traditional Bowden wire transmission system.

Description

Technical Field

[0001] This invention relates to a circuit for detecting the capacitance of a dielectric elastomer, a dielectric elastomer-rope traction force transmission system and method for end direct drive force compensation. Background Technology

[0002] Powered exoskeletons, through force transmission via human-machine interaction, provide motion assistance and enhancement, demonstrating broad prospects in medical rehabilitation, rescue aids, and wilderness marches. Joint-anchored exoskeletons, in particular, are smaller, lighter, and less prone to joint misalignment, offering significant advantages in scenarios requiring portability and long endurance. They employ a traditional Bowden cable drive system, where a traction rope passes through an axially incompressible sleeve connecting the drive end and the anchor point. However, due to friction within the sleeve, the tension in the traction rope is unequal between the drive and anchor ends, and this difference is affected by various time-varying factors during motion. Therefore, current drive control actually employs position control methods. Precise force control is essential for safe human-machine interaction, making research into achieving precise and compliant control of the Bowden cable drive system crucial. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention proposes a dielectric elastomer-rope traction transmission system with end-drive direct force compensation, which enables precise force control in traditional Bowden wire drive systems.

[0004] The technical solution of this invention to solve the above problems is: a dielectric elastomer-rope traction force transmission system with end-drive direct force compensation, which is characterized by:

[0005] Includes PC / control system, driver, data acquisition module, precision voltage source, sensing module, servo motor, force sensor, dielectric elastomer actuator (DEA), anchor point, Bowden wire and sleeve;

[0006] The PC / control system is connected to the data acquisition module, and the data acquisition module leads out wires to be connected to the driver, force sensor, precision voltage source and sensing module respectively;

[0007] The driver is used to control the servo motor; one side of the force sensor is connected to the servo motor via a Bowden wire, and the other side is connected to the dielectric elastomer driver (DEA) via a Bowden wire. The precision voltage source and the sensing module are both connected to the wires in the Bowden wire, and the dielectric elastomer driver (DEA) is fixed to the anchor point.

[0008] Furthermore, the aforementioned Bowden wire, from the inside out, comprises a positive conductor layer, a first insulation layer, a negative conductor layer, a second insulation layer, and a braided sheath.

[0009] Furthermore, the aforementioned dielectric elastomer actuator (DEA) is a cylindrical dielectric elastomer actuator.

[0010] Furthermore, the output shaft of the aforementioned servo motor is connected to a drum, and the Bowden wire on the force sensor side is wound onto the drum.

[0011] Furthermore, the aforementioned data acquisition module is a data acquisition card (DAQ).

[0012] In addition, this invention also proposes a compensation method for a dielectric elastomer-rope traction force transmission system based on the above-mentioned end direct drive force compensation, which is characterized by including the following steps:

[0013] 1) At a specific point in time, the servo motor is controlled by the PC / control system to apply a certain tension to the Bowden wire inside the sleeve. This tension is obtained by calculating the human body using an existing control algorithm. It is the tension required by the human body in this state to achieve balance or assist walking.

[0014] 2) The tension received by the Bowden wire is measured in real time using a force sensor;

[0015] 3) Since the dielectric elastomer actuator (DEA) is connected and fixed to the anchor point, the tension of the Bowden wire will be transmitted to the dielectric elastomer actuator (DEA), causing the dielectric elastomer actuator (DEA) to deform and send a sensing signal to the PC / control system through the sensing module.

[0016] 4) The PC / control system analyzes the data and compares the sensing signal with the servo motor control signal to obtain the tension lost by the friction of the Bowden wire inside the sleeve.

[0017] 5) The PC / control system applies a control signal to the dielectric elastomer actuator (DEA) through a precision voltage source, causing the DEA to extend to reach the initial tension of the motor control signal, thus achieving rapid force compensation.

[0018] The aforementioned dielectric elastomer-tether traction transmission system with end-effector direct drive force compensation utilizes a dielectric elastomer actuator. Its high-speed operation, high efficiency, controllability, and ability to generate muscle-like forces and strains make it stand out among soft robots. However, due to the presence of a high-voltage signal, the coupling of the sinusoidal low-voltage signal with the high-voltage drive signal on the high-voltage side requires large and expensive electronic components, such as high-voltage power amplifiers and AC transformers. The sensing module for dielectric elastomer capacitance detection uses existing large, specialized, and expensive electronic equipment, such as peak detectors, to extract the voltage change across the resistor under test from the sinusoidal detection signal. This capacitance detection circuit is complex and costly. To address this problem, this invention also proposes a sensing module that includes a circuit for detecting the capacitance of the dielectric elastomer.

[0019] The circuit for detecting the capacitance of a dielectric elastomer includes an amplification unit, a voltage detection unit, a voltage processing unit, a clamping unit, and a high-voltage power supply. The output terminal of the amplification unit is connected to the input terminal of the voltage detection unit. The first output terminal of the voltage detection unit is connected to the input terminal of the clamping unit and the first input terminal of the dielectric elastomer driver (DEA). The second output terminal of the voltage detection unit is connected to the input terminal of the voltage processing unit. The output terminal of the voltage processing unit is connected to the data acquisition module. The output terminal of the clamping unit is connected to the low-voltage negative terminal of the high-voltage power supply. The second input terminal of the dielectric elastomer driver (DEA) is connected to the high-voltage positive terminal of the high-voltage power supply.

[0020] Furthermore, the aforementioned amplification unit includes an operational amplifier U1, a resistor R10, and a resistor R11. The positive terminal of the operational amplifier U1 is connected to the output terminal of the microcontroller, the negative terminal of the operational amplifier U1 is connected to one end of the resistors R10 and R11 respectively, the other end of the resistor R10 is connected to the output terminal of the operational amplifier U1, and the other end of the resistor R11 is connected to the low-voltage negative terminal of the high-voltage power supply.

[0021] Furthermore, the voltage detection unit includes a differential amplifier U2 and a voltage sampling resistor R1. The two ends of the voltage sampling resistor R1 are respectively connected to the positive and negative terminals of the differential amplifier U2. The output terminal of the differential amplifier U2 is connected to the voltage processing unit. The negative terminal of the differential amplifier U2 is connected to the clamping unit. The negative terminal of the differential amplifier U2 is connected to the dielectric elastomer.

[0022] Furthermore, the clamping unit includes a Zener diode D1, a Zener diode D2, and a capacitor C1. One end of the capacitor C1 is connected to the negative terminal of the diode D1, and the other end of the capacitor C1 is connected to the low-voltage negative terminal of the high-voltage power supply. The positive terminal of the diode D1 is connected to the positive terminal of the diode D2, and the negative terminal of the diode D2 is connected to the low-voltage negative terminal of the high-voltage power supply.

[0023] Furthermore, the voltage processing unit includes an operational amplifier U3, a sliding rheostat R3, and a resistor R4. One end of the sliding rheostat R3 is connected to the output terminal of the voltage detection unit, and the other end is connected to the negative terminal of the operational amplifier U3. The two ends of the resistor R4 are connected to the negative terminal and the output terminal of the operational amplifier U3, respectively. The positive terminal of the operational amplifier U3 is connected to the low-voltage negative terminal of the high-voltage power supply.

[0024] Preferably, the voltage processing unit further includes resistor R5, resistor R6, capacitor C2 and operational amplifier U4. One end of resistor R5 is connected to the output terminal of operational amplifier U3, and the other end is connected to one end of capacitor C2. The other end of capacitor C2 is connected to the negative terminal of operational amplifier U4. One end of resistor R6 is connected to one end of capacitor C2, and the other end is connected to the positive terminal of operational amplifier U4.

[0025] Preferably, the voltage processing unit further includes a resistor R7 and a capacitor C3. One end of the capacitor C3 is connected to one end of the resistor R5, and the other end is connected to the output terminal of the operational amplifier U4. The two ends of the resistor R7 are respectively connected to the negative terminal and the output terminal of the operational amplifier U4.

[0026] Preferably, the voltage processing unit further includes resistors R8 and R9. The output terminal of the operational amplifier U4 is connected to one end of resistors R8 and R9 respectively. The other end of resistor R8 is connected to the power signal output terminal, and the other end of resistor R9 is connected to the low-voltage negative terminal of the high-voltage power supply. The output terminal of the operational amplifier U4 is used to output a voltage sampling signal.

[0027] Advantages of this invention:

[0028] The dielectric elastomer-rope traction force transmission system with end-drive direct force compensation provided by this invention measures the tension of the Bowden wire in real time using a force sensor. Under the tension of the Bowden wire, the cylindrical DEA deforms. A sensing module sends a sensing signal to a PC / control system, which then analyzes the data and compares it with the servo motor control signal to determine the tension lost due to friction within the bushing of the Bowden wire. A control signal is then applied to the cylindrical DEA via a precision voltage source, causing the cylindrical dielectric elastomer actuator to extend to reach the initial tension of the motor control signal, thus achieving rapid force compensation. The circuit design in the sensing module of this invention overcomes the shortcomings of existing technologies, enabling the detection of the dielectric elastomer capacitance from a low-voltage end, avoiding the need for specialized high-voltage testing equipment. The circuit structure is simple and reliable, reducing costs. Attached Figure Description

[0029] Figure 1 A schematic diagram of a dielectric elastomer-rope traction force transmission system for end-drive direct force compensation;

[0030] Figure 2 This is a schematic diagram of the working principle of the dielectric elastomer-rope traction force transmission system with end-drive direct force compensation;

[0031] Figure 3 This is the control principle diagram of the dielectric elastomer-rope traction force transmission system with end-drive direct force compensation.

[0032] Figure 4 This is a functional block diagram of a circuit used to detect the capacitance of a dielectric elastomer.

[0033] Figure 5 This is a circuit diagram used to detect the capacitance of a dielectric elastomer.

[0034] Figure 6 This diagram illustrates the working principle of testing dielectric elastomer capacitance. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0036] See Figures 1-3 A dielectric elastomer-rope traction force transmission system with end-drive direct force compensation includes a PC / control system, a driver, a data acquisition module, a precision voltage source, a sensing module, a servo motor, a force sensor, a dielectric elastomer driver (DEA), an anchor point, a Bowden wire, and a sleeve.

[0037] The PC / control system is connected to the data acquisition module, and the data acquisition module leads out wires to be connected to the driver, force sensor, precision voltage source and sensing module respectively;

[0038] The driver is used to control the servo motor; one side of the force sensor is connected to the servo motor via a Bowden wire, and the other side is connected to the dielectric elastomer driver (DEA) via a Bowden wire. The precision voltage source and the sensing module are both connected to the wires in the Bowden wire, and the dielectric elastomer driver (DEA) is fixed to the anchor point.

[0039] In a preferred embodiment of the present invention, the Bowden wire comprises, from the inside out, a positive conductor layer, a first insulating layer, a negative conductor layer, a second insulating layer, and a braided sleeve. The precision voltage source and the sensing module are both connected to the positive conductor layer and the negative conductor layer in the Bowden wire.

[0040] As a preferred embodiment of the present invention, the dielectric elastomer actuator (DEA) can be any type of dielectric elastomer actuator that can generate axial deformation by applying an electric field, preferably a cylindrical dielectric elastomer actuator, as the cylindrical dielectric elastomer deforms more uniformly and the sensing and control are more accurate.

[0041] In a preferred embodiment of the present invention, the output shaft of the servo motor is connected to a drum, and the Bowden wire on the force sensor side is wound on the drum. The output shaft of the servo motor drives the drum to rotate, and the rotation of the drum winds the Bowden wire.

[0042] In a preferred embodiment of the present invention, the data acquisition module described above is a data acquisition card (DAQ). The data acquisition card (DAQ) automatically acquires non-electrical or electrical signals from the driver, precision voltage source, sensing module, and force sensor, and sends them to the PC / control system for analysis and processing.

[0043] In a preferred embodiment of the present invention, the sensing module includes a circuit for detecting the capacitance of a dielectric elastomer.

[0044] like Figure 4 As shown, the circuit for detecting the capacitance of a dielectric elastomer includes an amplification unit, a voltage detection unit, a voltage processing unit, a clamping unit, and a high-voltage power supply. The input terminal of the amplification unit is connected to the output terminal of the PC / control system, and the output terminal of the amplification unit is connected to the input terminal of the voltage detection unit. The first output terminal of the voltage detection unit is connected to the input terminal of the clamping unit and the first input terminal of the dielectric elastomer. The second output terminal of the voltage detection unit is connected to the input terminal of the voltage processing unit. The output terminal of the voltage processing unit is connected to the input terminal of the PC / control system through a data acquisition module. The output terminal of the clamping unit is connected to the low-voltage negative terminal of the high-voltage power supply, and the second input terminal of the dielectric elastomer is connected to the high-voltage positive terminal of the high-voltage power supply.

[0045] Figure 5 A circuit connection diagram for detecting the capacitance of a dielectric elastomer is shown. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0046] The amplification unit includes an operational amplifier U1, a resistor R10, and a resistor R11. The positive terminal of the operational amplifier U1 is connected to the output terminal of the PC / control system. The negative terminal of the operational amplifier U1 is connected to one end of the resistors R10 and R11, respectively. The other end of the resistor R10 is connected to the output terminal of the operational amplifier U1. The other end of the resistor R11 is connected to the low-voltage negative terminal of the high-voltage power supply.

[0047] The voltage detection unit includes a differential amplifier U2 and a voltage sampling resistor R1. The voltage sampling resistor R1 is used to perform voltage division sampling on the dielectric elastomer. The two ends of the voltage sampling resistor R1 are connected to the positive and negative terminals of the differential amplifier U2, respectively. The output terminal of the differential amplifier U2 is connected to the voltage processing unit. The negative terminal of the differential amplifier U2 is connected to the clamping unit and the dielectric elastomer.

[0048] The clamping unit includes a Zener diode D1, a Zener diode D2, and a capacitor C1. One end of the capacitor C1 is connected to the negative terminal of the diode D1, and the other end of the capacitor C1 is connected to the low-voltage negative terminal of the high-voltage power supply. The positive terminal of the diode D1 is connected to the positive terminal of the diode D2, and the negative terminal of the diode D2 is connected to the low-voltage negative terminal of the high-voltage power supply.

[0049] The voltage processing unit includes an operational amplifier U3, a sliding rheostat R3, resistors R4, R5, and R6, a capacitor C2, an operational amplifier U4, a resistor R7, a capacitor C3, a resistor R8, and a resistor R9. One end of the sliding rheostat R3 is connected to the output terminal of the voltage detection unit, and the other end is connected to the negative terminal of the operational amplifier U3. The two ends of the resistor R4 are connected to the negative terminal and the output terminal of the operational amplifier U3, respectively. The positive terminal of the operational amplifier U3 is connected to the low-voltage negative terminal of the high-voltage power supply. One end of the resistor R5 is connected to the output terminal of the operational amplifier U3, and the other end is connected to one end of the capacitor C2. The other end of the capacitor C2 is connected to the negative terminal of the operational amplifier U4. One end of the resistor R6 is connected to one end of the capacitor C2, and the other end is connected to the positive terminal of the operational amplifier U4. One end of the capacitor C3 is connected to one end of the resistor R5, and the other end is connected to the output terminal of the operational amplifier U4. The two ends of the resistor R7 are connected to the negative terminal and the output terminal of the operational amplifier U4, respectively. The output terminal of operational amplifier U4 is connected to one end of resistors R8 and R9, respectively. The other end of resistor R8 is connected to one of the power signal output terminals (V4 terminal) of the PC / control system, and the other end of resistor R9 is connected to the low-voltage negative terminal of the high-voltage power supply. The output terminal of operational amplifier U4 is connected to the input terminal of the PC / control system through a data acquisition module. The voltage at V4 terminal is 2.5V. The output terminal of the PC / control system is used to send a square wave signal and receive the voltage signal output by the capacitor detection circuit.

[0050] The working principle of the circuit used to detect the capacitance of dielectric elastomers is as follows:

[0051] The high-voltage power supply VH provides the driving power for the dielectric elastomer. For different dielectric elastomers, the voltage of this high-voltage power supply VH is 3000V-5000V, or even higher. The low-voltage signal detection power supply VL provides the detection signal for the capacitance detection circuit. The low-voltage signal detection power supply outputs a 1V, 1kHz sine wave signal. Its working principle is as follows... Figure 6 As shown, when a high voltage is applied to the electrodes at both ends of the dielectric elastomer, the dielectric elastomer is compressed and deformed under force, and the capacitance changes at the same time. The capacitance value is measured by a low-voltage detection signal.

[0052] The circuit includes operational amplifier U1, differential amplifier U2, operational amplifier U3, operational amplifier U4, Zener diode D1, Zener diode D2, and sliding rheostat R3. Other components in the circuit are resistive and capacitive elements.

[0053] The detection signal generated by the microcontroller is amplified by the operational amplifier U1 and then connected to one end of the resistor R1 to be measured. The voltage signal of the resistor is then measured by the differential amplifier U2. After the voltage is processed by the voltage processing unit, it is connected to the input terminal of the microcontroller. The microcontroller then calculates and converts the voltage signal to obtain the capacitance of the dielectric elastomer to be measured.

[0054] The specific calculation process is as follows, obtained from Kirchhoff's voltage law:

[0055]

[0056] Given the amplitude and phase of the low-voltage detection signal VL output by the microcontroller, perform phase detection processing on the voltage signal received at the microcontroller's input terminal to obtain its amplitude and phase. Using the cosine formula, we can obtain:

[0057]

[0058] Where θ is the angle between V1 and V3.

[0059]

[0060] Where ζ is the angle between V2 and V3.

[0061] The AC voltage and current flowing through the resistor are in phase, and the AC current flowing through the capacitor leads the voltage by 90°. Therefore:

[0062]

[0063] Where χ is the angle between I1 and I2.

[0064] From Kirchhoff's current law, we can obtain:

[0065]

[0066]

[0067] I2=V22πfC1

[0068] According to the cosine formula, we can obtain:

[0069]

[0070] According to the impedance theorem, we can obtain:

[0071]

[0072]

[0073] Where Z is the impedance of the dielectric elastomer, Rs is the equivalent resistance of the dielectric elastomer, and Ca is the equivalent capacitance of the dielectric elastomer.

[0074] In addition, this invention also proposes a compensation method for a dielectric elastomer-rope traction force transmission system based on the above-mentioned end direct drive force compensation, see [link to relevant documentation]. Figure 1-3 This includes the following steps:

[0075] 1) At a specific point in time, the servo motor is controlled by the PC / control system to apply a certain tension to the Bowden wire inside the sleeve. This tension is obtained by calculating the human body using an existing control algorithm. It is the tension required by the human body in this state to achieve balance or assist walking.

[0076] 2) The tension received by the Bowden wire is measured in real time by a force sensor, and the data acquisition module acquires the force signal emitted by the force sensor and transmits it to the PC / control system;

[0077] 3) Since the dielectric elastomer actuator (DEA) is connected and fixed to the anchor point, the tension of the Bowden wire will be transmitted to the dielectric elastomer actuator (DEA), causing the dielectric elastomer actuator (DEA) to deform. The data acquisition module acquires the sensing module's sensing signal and transmits it to the PC / control system.

[0078] 4) The PC / control system analyzes the data and compares the sensing signal with the servo motor control signal to obtain the tension lost by the friction of the Bowden wire inside the sleeve.

[0079] 5) The PC / control system applies control signals to the dielectric elastomer actuator (DEA) via the data acquisition module and precision voltage source, causing the dielectric elastomer actuator (DEA) to extend and reach the initial tension of the motor control signal, thus achieving rapid force compensation.

[0080] Powered exoskeletons achieve motion assistance and enhancement through force transmission via human-machine interaction. The exoskeleton typically employs a traditional Bowden cable drive system, where a traction rope passes through an axially incompressible sleeve connecting the drive end and the anchor point. The end-effector direct-drive force compensation dielectric elastomer-rope traction transmission system provided by this invention can be applied to powered exoskeletons, and its working principle is as follows:

[0081] When a person wears a lower limb exoskeleton to walk, at a specific point in time, the PC / control system controls the servo motors to apply a certain tension to the Bowden wires inside the exoskeleton sleeve. This tension is calculated by an existing control algorithm based on the human body and is the tension required for the human body to achieve balance or assist in walking in this state. The tension of the Bowden wire is measured in real time using a force sensor. Since the cylindrical dielectric elastomer actuator (DEA) is connected and fixed to the anchor point, the tension of the Bowden wire is transmitted to the cylindrical dielectric elastomer actuator (DEA), causing it to deform. The sensing module sends a sensing signal to the PC / control system, which then analyzes the data and compares it with the servo motor control signal to obtain the tension lost by friction of the Bowden wire inside the sleeve. A control signal is then applied to the cylindrical dielectric elastomer actuator (DEA) through a precision voltage source, causing it to elongate to reach the initial tension of the motor control signal, thus performing rapid force compensation and ultimately achieving precise and compliant control of the Bowden wire drive system.

[0082] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related system fields, are similarly included within the scope of protection of the present invention.

Claims

1. A dielectric elastomer-rope traction force transmission system with end-drive direct force compensation, characterized in that: Includes PC / control system, driver, data acquisition module, precision voltage source, sensing module, servo motor, force sensor, dielectric elastomer driver, anchor point, Bowden wire and sleeve; The PC / control system is connected to the data acquisition module, and the data acquisition module leads out wires to be connected to the driver, force sensor, precision voltage source and sensing module respectively; The sensing module includes a circuit for detecting the capacitance of a dielectric elastomer; the Bowden wire, from the inside out, includes a positive conductor layer, a first insulating layer, a negative conductor layer, a second insulating layer, and a braided sheath; the positive conductor layer and the negative conductor layer constitute an integrated electrical channel that simultaneously transmits high-voltage drive signals and capacitance detection signals; the Bowden wire is used to withstand axial tensile force to transmit mechanical traction force. The driver is used to control the servo motor; one side of the force sensor is connected to the servo motor via a Bowden wire, and the other side is connected to the dielectric elastomer driver via a Bowden wire. The precision voltage source and sensing module are both connected to the positive and negative conductor layers in the Bowden wire, which are used to provide driving voltage to the dielectric elastomer driver through the Bowden wire and detect its capacitance change in real time; the sensing module sends a sensing signal to the PC / control system, which analyzes the data and compares the sensing signal with the servo motor control signal to obtain the tension lost by the Bowden wire due to friction inside the sleeve. The PC / control system applies a control signal to the dielectric elastomer driver through the precision voltage source, causing the dielectric elastomer driver to extend to reach the initial tension of the motor control signal, thus achieving rapid force compensation; the dielectric elastomer driver is fixed to the anchor point.

2. The dielectric elastomer-rope traction force transmission system with end-drive direct force compensation according to claim 1, characterized in that: It includes an amplification unit, a voltage detection unit, a voltage processing unit, a clamping unit, and a high-voltage power supply.

3. The dielectric elastomer-rope traction force transmission system with end-drive direct force compensation according to claim 2, characterized in that: The output shaft of the servo motor is connected to a drum, and the Bowden wire on the force sensor side is wound on the drum.

4. The dielectric elastomer-rope traction force transmission system with end-drive direct force compensation according to claim 1, characterized in that: The dielectric elastomer actuator is a cylindrical dielectric elastomer actuator; the data acquisition module is a data acquisition card (DAQ).

5. A compensation method for a dielectric elastomer-rope traction force transmission system based on end-drive force compensation as described in claim 1, characterized in that: 1) The servo motor is controlled by a PC / control system to apply a certain tension to the Bowden wires inside the exoskeleton sleeve; 2) The tension received by the Bowden wire is measured in real time using a force sensor; 3) The tension of the Bowden wire is transmitted to the dielectric elastomer actuator, causing the dielectric elastomer actuator to deform, and sending a sensing signal to the PC / control system through the sensing module; 4) The PC / control system analyzes the data and compares the sensing signal with the servo motor control signal to obtain the tension lost by the friction of the Bowden wire inside the sleeve. 5) The PC / control system applies a control signal to the dielectric elastomer actuator through a precision voltage source, causing the dielectric elastomer actuator to extend and reach the initial tension of the motor control signal, thus achieving rapid force compensation.

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