Smooth adjustment method, device and equipment for auxiliary torque of robot and medium

Abstract

The invention relates to the technical field of exoskeleton robots, in particular to a smooth adjustment method, device and equipment for auxiliary torque of a robot and a medium, and the method comprises the following steps: acquiring a power-assisted switching instruction, and analyzing the power-assisted switching instruction to obtain a first impedance configuration parameter and a second impedance configuration parameter; performing PID calculation on the first impedance configuration parameter to obtain a first output value, and performing PID calculation on the second impedance configuration parameter to obtain a second output value; and activating an impedance weight factor, performing weighted summation on the first output value and the second output value according to the impedance weight factor to obtain an actual output value at the current moment, and dynamically adjusting the impedance weight factor along with time until the actual output value is equal to the second output value. According to the method, the auxiliary torque smooth control of the exoskeleton robot can be realized, so that the training stability is improved, and good user experience is brought to a patient in the rehabilitation training process.

Description

Technical Field

[0001] The present application relates to the technical field of exoskeleton robots, and in particular to a method, device, equipment and medium for smoothly adjusting the auxiliary torque of a robot. Background Art

[0002] In the current field of lower limb exoskeleton rehabilitation robot technology, the mainstream training model is often limited to a single, highly repetitive passive gait training model. Although this method has a relatively low technical threshold and significant cost-effectiveness, with the increasing expansion of the rehabilitation robot market and the diversification of user needs, its limitations have become increasingly prominent, and it is difficult to meet the complex and changeable personalized needs of the rehabilitation process. In view of this, active training methods have emerged, which advocate patients to actively participate in the walking process, aiming to activate muscle potential through autonomous efforts and promote rehabilitation effects.

[0003] Compared with the traditional passive training mode, where the robot takes the lead in training the patient, the core advantage of active training is the realization of the interactive mode of "human-led, machine-assisted". In this mode, the patient's autonomy is significantly improved, and the therapist can flexibly adjust the robot's auxiliary torque based on the patient's real-time muscle strength feedback, thereby promoting the rehabilitation process more accurately.

[0004] On the technical level, active training generally adopts impedance control strategy, the core of which is to finely control the auxiliary force of the robot by adjusting the impedance coefficient. However, in practical applications, direct adjustment of the impedance coefficient may cause instantaneous changes in the output force, which in turn causes violent vibrations in the robot's motion joints, which not only affects the stability of the training, but may also cause strong discomfort to the patient, violating the principle of human-machine harmony and physical comfort pursued by rehabilitation equipment.

[0005] To sum up, in order to ensure the stability of training and provide patients with a good user experience during rehabilitation training, it is necessary to achieve smooth control of the auxiliary torque of the exoskeleton robot. Therefore, how to achieve smooth control of the auxiliary torque of the exoskeleton robot is a technical problem that needs to be solved urgently. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the present application provides a method, device, equipment and medium for smooth adjustment of the auxiliary torque of a robot to achieve smooth control of the auxiliary torque of an exoskeleton robot, thereby improving the stability of training and providing patients with a good user experience during rehabilitation training.

[0007] The technical solution adopted by this application to solve its technical problem is: In a first aspect, the present application provides a method for smooth adjustment of a robot auxiliary torque, the method comprising: Acquire a power-assist switching instruction, and parse the power-assist switching instruction to obtain a first impedance configuration parameter and a second impedance configuration parameter, wherein the first impedance configuration parameter is an impedance configuration parameter before the power-assist switching, and the second impedance configuration parameter is an impedance configuration parameter newly set for the power-assist switching; Performing a PID calculation on the first impedance configuration parameter to obtain a first output value, and performing a PID calculation on the second impedance configuration parameter to obtain a second output value; The impedance weighting factor is activated, and the first output value and the second output value are weighted and summed according to the impedance weighting factor to obtain the actual output value at the current moment, and the impedance weighting factor is dynamically adjusted over time until the actual output value is equal to the second output value.

[0008] Optionally, the step of performing PID calculation on the first impedance configuration parameter to obtain a first output value, and performing PID calculation on the second impedance configuration parameter to obtain a second output value includes: Get angle deviation value and speed deviation value; According to the first impedance configuration parameter, PID calculation is performed on the angle deviation value and the speed deviation value to obtain the first output value, and the formula used is as follows: ; in, is the first proportionality coefficient, is the first integral coefficient, is the first differential coefficient, is the angle deviation value, is the speed deviation value, is the first output value; According to the second impedance configuration parameter, PID calculation is performed on the angle deviation value and the speed deviation value to obtain the second output value, and the formula used is as follows: ; in, is the second proportionality coefficient, is the second integral coefficient, is the second differential coefficient, is the second output value.

[0009] Optionally, in the step of activating the impedance weight factor and performing weighted summation on the first output value and the second output value according to the impedance weight factor, the impedance weight factor follows the following formula: ; in, is the impedance weight factor, The initial value of is 1 and gradually decreases to 0 over time. For transition time, is the smoothing delay constant, is the first proportionality coefficient, is the second proportionality coefficient.

[0010] Optionally, in the step of performing weighted summation of the first output value and the second output value according to the impedance weight factor, the weighted summation adopts the following formula: ; in, is the actual output value at the current moment.

[0011] Optionally, after the step of obtaining the actual output value at the current moment, the method includes: Obtaining gravity compensation value, friction compensation value and actual joint torque of the target robot; The PID calculation of the SEA force control is performed according to the gravity compensation value, the friction compensation value, the actual joint torque and the actual output value to obtain the force control PID output value.

[0012] Optionally, after the step of obtaining the force control PID output value, the method includes: Generate a motor torque command according to the gravity compensation value, the friction compensation value and the force control PID output value; The auxiliary torque of the target robot is adjusted according to the motor torque command.

[0013] Optionally, the step of obtaining the angle deviation value and the speed deviation value includes: According to the power-assisted switching instruction, obtaining an expected angle value and an expected speed value; Detect the target robot to obtain the actual angle value and actual speed value; The angle deviation value is determined according to the expected angle value and the actual angle value, and the speed deviation value is determined according to the expected speed value and the actual speed value.

[0014] By adopting the above technical solution, after obtaining the assistant switching instruction, the expected angle value and the expected speed value are first determined according to the assistant switching instruction, and then the target robot is detected to determine the actual angle value and the actual speed value, and then the angle deviation value and the speed deviation value are obtained to facilitate the subsequent impedance control PID calculation.

[0015] A second aspect of the present application provides a robot auxiliary torque smooth adjustment device, comprising: a configuration parameter acquisition module, used for acquiring a power-assisted switching instruction, and parsing the power-assisted switching instruction to obtain a first impedance configuration parameter and a second impedance configuration parameter, wherein the first impedance configuration parameter is an impedance configuration parameter before the power-assisted switching, and the second impedance configuration parameter is an impedance configuration parameter newly set for the power-assisted switching; an output value acquisition module, configured to perform PID calculation on the first impedance configuration parameter to obtain a first output value, and perform PID calculation on the second impedance configuration parameter to obtain a second output value; The output value adjustment output module is used to activate the impedance weight factor and perform weighted summation on the first output value and the second output value according to the impedance weight factor to obtain the actual output value at the current moment, and the impedance weight factor is dynamically adjusted over time until the actual output value is equal to the second output value.

[0016] A third aspect of the present application provides an electronic device, comprising: at least one processor and at least one memory, wherein the memory stores computer-readable instructions; The computer-readable instructions are executed by one or more of the processors, so that the electronic device implements the above-mentioned smooth adjustment method of the robot-assisted torque.

[0017] A fourth aspect of the present application provides a storage medium having computer-readable instructions stored thereon, wherein the computer-readable instructions are executed by a processor to implement the above-mentioned method for smooth adjustment of the robot-assisted torque.

[0018] The beneficial effect of the present application is that when a power-assist switching instruction is detected, the parameters of the PID link responsible for force control in the robot control system remain unchanged to maintain system stability. In this case, the impedance control PID link will work in parallel. On the one hand, the original first impedance configuration parameters (including proportional coefficient P1, integral coefficient I1, differential coefficient D1) are maintained for PID operation to obtain the output result first output value; on the other hand, the second impedance configuration parameters (P2, I2, D2) newly set by the user through the remote control device are introduced to perform another set of PID operations to obtain the output result second output value. Subsequently, the system activates the calculation link of the impedance weight factor, and weighted sums the first output value and the second output value in combination with the impedance weight factor, wherein the impedance weight factor is dynamically adjusted over time, thereby making the actual output value of the weighted sum transition smoothly until the actual output value transitions from the first output value to the second output value. The actual output value will be used as part of the desired torque of the force control PID to smoothly adjust the torque output of the entire system to achieve smooth control of the auxiliary torque of the exoskeleton robot, thereby improving the stability of the training, and thus bringing a good user experience to patients during rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a method for smooth adjustment of robot auxiliary torque provided in an embodiment of the present application; Figure 2 is a system control block diagram corresponding to the smooth adjustment method of the robot auxiliary torque provided in the embodiment of the present application; Figure 3 It is a virtual structural schematic diagram of the smooth adjustment device of the robot auxiliary torque provided by the present application; Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0021] The following will clearly and completely describe the concept, specific structure and technical effects of the present application in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments of the present application, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present application. In addition, all the connection / connection relationships involved in the patent do not simply refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features created in this application can be combined interactively without conflicting with each other.

[0022] During the rehabilitation training of patients using exoskeleton robots, if the robot joint assist torque is improperly set - whether it is too small to make walking difficult, or too large to effectively stimulate muscle groups - the therapist can immediately adjust the assist size of active training through the robot's remote control device. Once the robot's control system detects this assist switching command, it will automatically activate the torque smoothing function to ensure a smooth transition of the assist adjustment and improve the safety and comfort of training. The following is the specific implementation process: Reference Figure 1 , Figure 2 , Figure 1 is a flow chart of a method for smooth adjustment of robot auxiliary torque provided in an embodiment of the present application, Figure 2 is a system control block diagram corresponding to the smooth adjustment method of the robot auxiliary torque provided in the embodiment of the present application, combined with Figure 1 It can be seen that the smooth adjustment method of the robot auxiliary torque provided in the present application includes the following steps, which are specifically described below: In step S1, a power-assisted switching instruction is obtained, and the power-assisted switching instruction is parsed to obtain a first impedance configuration parameter and a second impedance configuration parameter, wherein the first impedance configuration parameter is an impedance configuration parameter before the power-assisted switching, and the second impedance configuration parameter is an impedance configuration parameter newly set for the power-assisted switching.

[0023] Specifically, when a power-assist switching instruction is detected, the parameters of the PID link responsible for force control in the robot control system remain unchanged to maintain system stability. In this case, the impedance control PID link will work in parallel, and the first impedance configuration parameters include a first proportional coefficient, a first integral coefficient, and a first differential coefficient. The second impedance configuration parameters include a second proportional coefficient, a second integral coefficient, and a second differential coefficient.

[0024] In step S2, a PID calculation is performed on the first impedance configuration parameter to obtain a first output value, and a PID calculation is performed on the second impedance configuration parameter to obtain a second output value.

[0025] Specifically, the steps of performing PID calculation on the first impedance configuration parameter to obtain a first output value, and performing PID calculation on the second impedance configuration parameter to obtain a second output value include: Get angle deviation value and speed deviation value; According to the first impedance configuration parameter, PID calculation is performed on the angle deviation value and the speed deviation value to obtain the first output value, and the formula used is as follows: ; in, is the first proportionality coefficient, is the first integral coefficient, is the first differential coefficient, is the angle deviation value, is the speed deviation value, is the first output value; According to the second impedance configuration parameter, PID calculation is performed on the angle deviation value and the speed deviation value to obtain the second output value, and the formula used is as follows: ; in, is the second proportionality coefficient, is the second integral coefficient, is the second differential coefficient, is the second output value.

[0026] Specifically, a PID operation is performed according to the original first impedance configuration parameter to obtain the first output value that was originally output, and then a PID operation is performed according to the second impedance configuration parameter corresponding to the power-assist switching instruction to obtain the second output value.

[0027] More specifically, the step of obtaining the angle deviation value and the speed deviation value includes: According to the power-assisted switching instruction, obtaining an expected angle value and an expected speed value; Detect the target robot to obtain the actual angle value and actual speed value; The angle deviation value is determined according to the expected angle value and the actual angle value, and the speed deviation value is determined according to the expected speed value and the actual speed value.

[0028] Specifically, after obtaining the assistant switching instruction, the expected angle value and the expected speed value are first determined according to the assistant switching instruction, and then the target robot is detected to determine the actual angle value and the actual speed value, and then the angle deviation value and the speed deviation value are obtained to facilitate the subsequent impedance control PID calculation.

[0029] In step S3, the impedance weighting factor is activated, and the first output value and the second output value are weighted and summed according to the impedance weighting factor to obtain the actual output value at the current moment, and the impedance weighting factor is dynamically adjusted over time until the actual output value is equal to the second output value.

[0030] Specifically, when a power-assist switching command is detected, the system activates the impedance weighting factor, and performs weighted summation of the first output value and the second output value in combination with the impedance weighting factor, wherein the impedance weighting factor is dynamically adjusted over time, so that the actual output value of the weighted summation smoothly transitions until the actual output value transitions from the first output value to the second output value. The actual output value will be used as part of the desired torque of the force-controlled PID to smoothly adjust the torque output of the entire system, so as to achieve smooth control of the auxiliary torque of the exoskeleton robot, thereby improving the stability of the training, and thus bringing a good user experience to patients during rehabilitation training.

[0031] More specifically, in the step of activating the impedance weight factor and performing weighted summation on the first output value and the second output value according to the impedance weight factor, the impedance weight factor follows the following formula: ; in, is the impedance weight factor, The initial value of is 1 and gradually decreases to 0 over time. For transition time, is the smoothing delay constant, is the first proportionality coefficient, is the second proportionality coefficient.

[0032] Specifically, The initial value of is 1, and gradually decreases to 0 over time, so that it is dynamically adjusted over time to achieve a smooth transition from the first output value to the second output value. is the smoothing delay constant, in one embodiment provided in this application, the unit is seconds, and the magnitude of this value is related to the first proportionality coefficient and the second proportionality factor Positively correlated, and The greater the numerical difference, The larger the value, the longer the smooth transition takes.

[0033] More specifically, thanks to the fact that the multi-order derivatives of the cosine function are still continuous, this formula can ensure that the output torque does not change suddenly while its torque acceleration remains continuous. From the perspective of the motion effect at the robot joint end, the acceleration is continuous, which can further improve the comfort of human-computer interaction during the torque smoothing process.

[0034] Wherein, in the step of performing weighted summation of the first output value and the second output value according to the impedance weight factor, the weighted summation adopts the following formula: ; in, is the actual output value at the current moment.

[0035] Specifically, after obtaining the first output value (original) and the second output value (new configuration) of the calculation results of the two sets of impedance configuration parameters, the system will apply the calculation result of the impedance weight factor to the two for weighted summation. Combining the above steps, it can be seen that after the moment smoothing algorithm is activated, It will start from 1 and gradually decrease with time. = hour Drops to 0, at which point the torque transition is complete.

[0036] Further, refer to Figure 2 After the step of obtaining the actual output value at the current moment, the method comprises: Obtaining gravity compensation value, friction compensation value and actual joint torque of the target robot; Performing PID calculation of SEA force control according to the gravity compensation value, the friction compensation value, the actual joint torque and the actual output value to obtain a force control PID output value; Generate a motor torque command according to the gravity compensation value, the friction compensation value and the force control PID output value; The auxiliary torque of the target robot is adjusted according to the motor torque command.

[0037] Specifically, the calculated actual output value is used as part of the expected torque of the force control PID. At the same time, the gravity compensation value and the friction compensation value are obtained as the second part, and the current force control PID output value is adjusted according to the actual torque of the joint. Then, based on the force control PID output value, the corresponding motor torque command is generated in combination with the gravity compensation value and the friction compensation value to adjust the torque of the joint of the target robot.

[0038] Reference Figure 3 , Figure 3 It is a virtual structural schematic diagram of the smooth adjustment device of the robot auxiliary torque provided by the present application, including: The configuration parameter acquisition module 100 is used to acquire a power-assisted switching instruction and parse the power-assisted switching instruction to obtain a first impedance configuration parameter and a second impedance configuration parameter, wherein the first impedance configuration parameter is an impedance configuration parameter before the power-assisted switching, and the second impedance configuration parameter is an impedance configuration parameter newly set for the power-assisted switching; An output value acquisition module 200, configured to perform PID calculation on the first impedance configuration parameter to obtain a first output value, and perform PID calculation on the second impedance configuration parameter to obtain a second output value; The output value adjustment output module 300 is used to activate the impedance weighting factor and perform weighted summation on the first output value and the second output value according to the impedance weighting factor to obtain the actual output value at the current moment. The impedance weighting factor is dynamically adjusted over time until the actual output value is equal to the second output value.

[0039] The smooth adjustment device of the robot assisting torque described in the embodiment of the present application can execute the smooth adjustment method of the robot assisting torque provided in the above embodiment. The smooth adjustment device of the robot assisting torque has the corresponding functional steps and beneficial effects of the smooth adjustment method of the robot assisting torque described in the above embodiment. Please refer to the embodiment of the smooth adjustment method of the robot assisting torque mentioned above for details. The embodiment of the present application will not be repeated here.

[0040] The present application also provides an electronic device. Figure 4 , Figure 4It is a structural diagram of an electronic device provided in an embodiment of the present application, and the electronic device may include a processor and a memory, wherein the processor and the memory may be connected via a bus or other means. The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components and other chips, or a combination of the above-mentioned various types of chips. The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the smooth adjustment method of the robot-assisted torque in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, the smooth adjustment method of the robot-assisted torque in the above-mentioned method embodiment is realized.

[0041] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. The one or more modules are stored in the memory, and when executed by the processor, the smooth adjustment method of the robot-assisted torque in the above-mentioned method embodiment is executed. The specific details of the above-mentioned electronic device can be understood by corresponding to the corresponding descriptions and effects in the above-mentioned method embodiment, and will not be repeated here. Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and the program, when executed, may include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memory.

[0042] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0043] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: the claimed application requires more features than the features explicitly recited in each claim. More specifically, as reflected in the claims, the inventive aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present application.

[0044] It should be noted that the above-mentioned embodiments illustrate rather than limit the invention and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims.

Claims

1. A method for smooth adjustment of robot auxiliary torque, characterized in that: The method comprises: Acquire a power-assist switching instruction, and parse the power-assist switching instruction to obtain a first impedance configuration parameter and a second impedance configuration parameter, wherein the first impedance configuration parameter is an impedance configuration parameter before the power-assist switching, and the second impedance configuration parameter is an impedance configuration parameter newly set for the power-assist switching; Performing a PID calculation on the first impedance configuration parameter to obtain a first output value, and performing a PID calculation on the second impedance configuration parameter to obtain a second output value; The impedance weighting factor is activated, and the first output value and the second output value are weighted and summed according to the impedance weighting factor to obtain the actual output value at the current moment, and the impedance weighting factor is dynamically adjusted over time until the actual output value is equal to the second output value.

2. The method for smooth adjustment of robot auxiliary torque according to claim 1, characterized in that: The step of performing PID calculation on the first impedance configuration parameter to obtain a first output value, and performing PID calculation on the second impedance configuration parameter to obtain a second output value comprises: Get angle deviation value and speed deviation value; According to the first impedance configuration parameter, PID calculation is performed on the angle deviation value and the speed deviation value to obtain the first output value, and the formula used is as follows: ； in, is the first proportionality coefficient, is the first integral coefficient, is the first differential coefficient, is the angle deviation value, is the speed deviation value, is the first output value; According to the second impedance configuration parameter, PID calculation is performed on the angle deviation value and the speed deviation value to obtain the second output value, and the formula used is as follows: ； in, is the second proportionality coefficient, is the second integral coefficient, is the second differential coefficient, is the second output value.

3. The method for smooth adjustment of robot auxiliary torque according to claim 2, characterized in that: In the step of activating the impedance weight factor and performing weighted summation on the first output value and the second output value according to the impedance weight factor, the impedance weight factor follows the following formula: ； in, is the impedance weight factor, The initial value of is 1 and gradually decreases to 0 over time. For transition time, is the smoothing delay constant, is the first proportionality coefficient, is the second proportionality coefficient.

4. The method for smooth adjustment of robot auxiliary torque according to claim 3, characterized in that: In the step of performing weighted summation of the first output value and the second output value according to the impedance weight factor, the weighted summation adopts the following formula: ； in, is the actual output value at the current moment.

5. The method for smooth adjustment of robot auxiliary torque according to claim 1, characterized in that: After the step of obtaining the actual output value at the current moment, the method comprises: Obtaining gravity compensation value, friction compensation value and actual joint torque of the target robot; The PID calculation of the SEA force control is performed according to the gravity compensation value, the friction compensation value, the actual joint torque and the actual output value to obtain the force control PID output value.

6. The method for smooth adjustment of robot auxiliary torque according to claim 5, characterized in that: After the step of obtaining the force control PID output value, the method includes: Generate a motor torque command according to the gravity compensation value, the friction compensation value and the force control PID output value; The auxiliary torque of the target robot is adjusted according to the motor torque command.

7. The method for smooth adjustment of robot auxiliary torque according to claim 2, characterized in that: The step of obtaining the angle deviation value and the speed deviation value comprises: According to the power-assisted switching instruction, obtaining an expected angle value and an expected speed value; Detect the target robot to obtain the actual angle value and actual speed value; The angle deviation value is determined according to the expected angle value and the actual angle value, and the speed deviation value is determined according to the expected speed value and the actual speed value.

8. A robot auxiliary torque smooth adjustment device, characterized in that: include: a configuration parameter acquisition module, used for acquiring a power-assisted switching instruction, and parsing the power-assisted switching instruction to obtain a first impedance configuration parameter and a second impedance configuration parameter, wherein the first impedance configuration parameter is an impedance configuration parameter before the power-assisted switching, and the second impedance configuration parameter is an impedance configuration parameter newly set for the power-assisted switching; an output value acquisition module, configured to perform PID calculation on the first impedance configuration parameter to obtain a first output value, and perform PID calculation on the second impedance configuration parameter to obtain a second output value; The output value adjustment output module is used to activate the impedance weight factor and perform weighted summation on the first output value and the second output value according to the impedance weight factor to obtain the actual output value at the current moment, and the impedance weight factor is dynamically adjusted over time until the actual output value is equal to the second output value.

9. An electronic device, characterized in that: include: at least one processor and at least one memory, wherein the memory has computer-readable instructions stored thereon; The computer-readable instructions are executed by one or more of the processors so that the electronic device implements the smooth adjustment method of the robot-assisted torque according to any one of claims 1 to 7.

10. A storage medium having computer-readable instructions stored thereon, characterized in that: The computer-readable instructions are executed by a processor to implement the smooth adjustment method of the robot-assisted torque according to any one of claims 1 to 7.

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