Multi-channel aerodynamic force feedback assembly and control method

Abstract

The invention discloses a multi-channel aerodynamic force feedback assembly and a control method. The multi-channel aerodynamic force feedback assembly comprises a signal conversion module which is in data connection with a thin film pressure sensor installed on a bionic mechanical arm. An AO pin of the signal conversion module is connected with a data processing module, and the data processing module is further connected with a servo control module of the air pump; the output end of the air pump is connected to an air bag of the teleoperation force feedback device so as to simulate the pressure borne by the bionic manipulator through the air bag; the data processing module is used for mapping the received pressure analog quantity into the control quantity of the air pump or the control quantity of the electromagnetic valve corresponding to the air pump and sending the control quantity to the servo control module; through mutual cooperation of the signal conversion module, the data processing module and the servo control module, feedback signals of a thin film pressure sensor on the bionic manipulator are converted and processed, corresponding pneumatic control signals are generated, and force on the teleoperation manipulator can be fed back in a pneumatic mode.

Description

Technical Field

[0001] The invention belongs to the technical field of tactile force feedback of a bionic manipulator teleoperated robot, and in particular relates to a multi-channel pneumatic force feedback component and a control method. Background Art

[0002] In recent years, tactile force feedback devices have been increasingly used in cross-space teleoperation robot force feedback scenarios. This technology is an important basis for improving the telepresence of teleoperation robots, directly affecting the operating performance of teleoperation systems, and is widely used in surgical robots, mechanical exoskeletons, and space stations. In a telerobot or VR environment, tactile information is remotely transmitted to the operator, which is very important for identifying touch sensations and accurately controlling objects. A tactile feedback actuator is a device that transmits physical touch sensations to the operator, and is gradually becoming a development trend in the field of semi-autonomous operation of robots in hazardous environments to replace manual labor.

[0003] Existing hand force feedback actuators often use piezoelectric ceramic drivers combined with carriers such as wearable gloves. They mainly rely on high-frequency vibrations to transmit force feedback signals. This type of actuator needs to overcome the low piezoelectric coefficient and the requirement for high driving voltage. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-channel pneumatic force feedback component and a control method, which can provide feedback on the force on a teleoperated manipulator by pneumatic means.

[0005] The present invention adopts the following technical solution: a multi-channel pneumatic force feedback component, including a signal conversion module connected to the data of a thin film pressure sensor installed on a bionic manipulator;

[0006] The AO pin data processing module of the signal conversion module is also connected to the servo control module of the air pump;

[0007] The output end of the air pump is connected to the air bag of the teleoperation force feedback device to simulate the pressure on the bionic manipulator through the air bag;

[0008] The data processing module is used to map the received pressure analog quantity into the control quantity of the air pump or the control quantity of the electromagnetic valve corresponding to the air pump and send it to the servo control module.

[0009] Another technical solution of the present invention: A control method of the above-mentioned multi-channel pneumatic force feedback component comprises the following steps:

[0010] The thin film pressure sensor measures the pressure signal and sends it to the signal conversion module;

[0011] The signal conversion module converts the pressure signal into an analog signal and sends it to the data processing module;

[0012] The data processing module maps the analog signal into air pump control parameters and sends them to the servo control module;

[0013] The servo control module controls the air pump to inflate or deflate the airbag of the teleoperated force feedback device according to the control parameters.

[0014] Furthermore, the data processing module maps the analog signal into the air pump control parameters including:

[0015] Calculate the proportional relationship between the analog signal and the measuring range of the thin film pressure sensor;

[0016] According to the proportional relationship, the corresponding air pump control parameter is selected within the effective air pump control parameter range of the air pump.

[0017] Further, calculating the proportional relationship between the analog signal and the measuring range of the thin film pressure sensor includes:

[0018] Compare the analog signal at the current moment with the analog signal at the previous moment;

[0019] When the pressure corresponding to the analog signal at the current moment is less than the pressure corresponding to the analog signal at the previous moment, the air pump control parameters include the opening time of the solenoid valve and the speed parameter of the air pump.

[0020] Further, when the pressure corresponding to the analog signal at the current moment is less than the pressure corresponding to the analog signal at the previous moment, the air pump control parameter includes a speed parameter of the air pump.

[0021] Furthermore, the data processing module maps the analog signal into the air pump control parameters including:

[0022] When the analog signal is greater than the signal threshold, the operation of mapping the analog signal to the air pump control parameter is not performed;

[0023] When the analog signal is less than or equal to the signal threshold, the analog signal is mapped to the operation of the air pump control parameter.

[0024] Furthermore, the upper limit of the range of the rotation speed parameter in the effective air pump control parameter range is the maximum value of the air pump rotation speed, and the lower limit is measured through experiments.

[0025] Another technical solution of the present invention: a control device for a multi-channel pneumatic feedback component, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method when executing the computer program.

[0026] The beneficial effects of the present invention are as follows: the present invention converts and processes the feedback signal of the thin film pressure sensor on the bionic manipulator through the cooperation of the signal conversion module, the data processing module and the servo control module, and generates a corresponding pneumatic control signal, so as to realize the feedback of the force on the remote-controlled manipulator by pneumatic means, that is, to realize a new force feedback means of the tactile feedback actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a wiring diagram of a thin film pressure sensor and a MH-Sensor-Series signal conditioning module in an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of an ARDUINO UNO development board used in an embodiment of the present invention;

[0029] Figure 3 The ARDUINO UNO development board input and output pin annotations and wiring diagram in the embodiment of the present invention;

[0030] Figure 4 A schematic diagram of a six-channel pneumatic servo assembly in an embodiment of the invention;

[0031] Among them: 0. Thin film pressure sensor; 1. VCC pin; 2. GND pin; 3. DO pin; 4. AO pin; 5. Serial line interface; 6. Power interface; 7. Program reset switch; 8. Air pump; 9. Air pipe; 10. Solenoid valve; 11. Air pump pin; 12. Solenoid valve pin. DETAILED DESCRIPTION

[0032] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The present invention is a tactile feedback technology for bionic hand teleoperated robots. It uses an integrated thin film pressure sensor, a multi-air path pneumatic servo assembly, and a corresponding air path control method to perform feedback force reproduction tasks during teleoperation of bionic manipulators. As the operating environment of teleoperated robots in industrial application scenarios becomes more and more complex, the level of sophistication and complexity of tasks performed become higher and higher. Tactile feedback actuator technology is the key to improving the telepresence of teleoperated robots.

[0034] The control method of the multi-channel pneumatic force feedback component based on the integrated thin film pressure sensor and the multi-air path pneumatic servo component proposed in the present invention can effectively improve the power density and force telepresence of the force feedback device.

[0035] The present invention discloses a multi-channel pneumatic force feedback component, comprising a signal conversion module connected to the data of a thin film pressure sensor installed on a bionic manipulator; an AO pin data processing module of the signal conversion module, the data processing module is also connected to a servo control module of an air pump; the output end of the air pump is connected to an air bag of a remote-operated force feedback device to simulate the pressure on the bionic manipulator through the air bag; the data processing module is used to map the received pressure simulation quantity into a control quantity of the air pump or a control quantity of an electromagnetic valve corresponding to the air pump and send it to the servo control module.

[0036] The present invention converts and processes the feedback signal of the thin film pressure sensor on the bionic manipulator through the cooperation of the signal conversion module, the data processing module and the servo control module, and generates a corresponding pneumatic control signal, so as to realize the feedback of the force on the remote-controlled manipulator by pneumatic means, that is, to realize a new force feedback means of the tactile feedback actuator.

[0037] Specifically, the multi-channel pneumatic force feedback component includes: a thin film pressure sensor, an MH-Sensor-Series signal conditioning module, an ARDUINO UNO development board, a six-channel pneumatic servo component, an air pipe, and several DuPont lines. More specifically, the number of each component is not fixed and can be adjusted as needed. There are several groups of pins on the development board to achieve the expansion of multiple groups of components.

[0038] The thin film pressure sensor 0 is arranged on the fingers and palm of the bionic hand by bonding or other means. When subjected to pressure, the pressure change on the sensor surface is output through analog voltage, and the analog value is output to the ANALOG IN port of the Arduino development board using the MH-Sensor-Series signal conversion module.

[0039] The multi-gas-path pneumatic force feedback component includes an Arduino UNO development board, a six-way DC air pump (supported by the development board) and a solenoid valve component. The ANALOG IN port of the Arduino development board receives the analog input of the pressure sensor and converts it into a digital quantity. In the embodiment of the present invention, the preferred design is a 1024-bit digital quantity, and its 0-1024 digital quantities represent the full scale to no-load state of the pressure sensor. During actual output, the signal conversion module converts the 1024-bit digital quantity into an analog quantity and outputs it to the data processing module. Pneumatic force feedback is implemented by an algorithm in the Arduino IDE environment.

[0040] like Figure 1, the film pressure sensor 0 is connected to the "+, -" pins of the MH-Sensor-Series signal conversion module through a wire. The connection here can be positive or negative. The MH-Sensor-Series signal conversion module is powered by VCC pin 1 and GND pin 2. DO pin 3 outputs a switch quantity, and AO pin 4 outputs an analog quantity. The six-channel pneumatic servo assembly based on ARDUINO UNO in the present invention only uses AO pin 4 of the MH-Sensor-Series signal conversion module. Figure 1 AO pin 4 connection Figure 3 The A0 pin of the development board ANALOGIN.

[0041] Figure 2 The schematic diagram of the development board is shown, which has a serial line interface 5, a power interface 6 and a program reset switch 7; Figure 3 for Figure 2 Schematic diagram of the pin names of the Arduino UNO development board. The descriptions of the pin names in this invention are based on Figure 3 In the pin naming, the pins are divided into three areas: DIGITAL (PWM~), POWER, and ANALOG IN. Figure 4 Since the structure and wiring method of each path of the multi-path DC air pump and solenoid valve assembly are exactly the same, only one path consisting of the air pump 8, air pipe 9, solenoid valve 10, air pump pin 11, and solenoid valve pin 12 is introduced.

[0042] The processed analog quantity is input to the ANALOG IN pin, where the A0~A5 pins have the same permissions and can receive five pressure sensor signals at the same time.

[0043] Multi-channel DC air pump and solenoid valve components such as Figure 4 As shown, the brushed DC air pump 8 and the solenoid valve 10 are connected via an air pipe 9 with a three-way connection. Figure 4 The middle pin 11 and the pin 12 are connected to the brushed DC air pump 8 and the solenoid valve 10 respectively. The inflation pin 11 controls the brushed DC air pump 8 to inflate, and the deflation pin 12 controls the solenoid valve 10 to deflate.

[0044] and Figure 3 The connection method of the ARDUINO UNO development board is that the pin 11 of the six-way DC air pump and solenoid valve assembly is connected to the ARDUINO UNO development board DIGITAL (PWM~)~pin 11, and the pin 12 of the six-way DC air pump and solenoid valve assembly is connected to the ARDUINO UNO development board DIGITAL (PWM~) pin 13.

[0045] The charging and discharging functions of the multi-air-path DC air pump and solenoid valve assembly are controlled by the PWM frequency output by the DIGITAL (PWM~) pin, wherein ~3, ~5, ~6, ~9, ~10, and ~11 are pins that support analog PWM output. By using these pins to control the DC air pump and the DC brush air pump in the solenoid valve assembly, and using the remaining pins in the DIGITAL (PWM~) area to control the DC air pump and the solenoid valve in the solenoid valve assembly, the five-way force feedback airbags located in the gripping body for simulating a bionic manipulator are indirectly controlled to achieve a tactile force feedback effect.

[0046] The present invention also discloses a control method for the above-mentioned multi-channel pneumatic force feedback component, comprising the following steps: a thin film pressure sensor measures a pressure signal and sends it to a signal conversion module; the signal conversion module converts the pressure signal into an analog signal and sends it to a data processing module; the data processing module maps the analog signal into an air pump control parameter and sends it to a servo control module; the servo control module controls the air pump to inflate or deflate the airbag of the remote-controlled force feedback device according to the control parameters.

[0047] The operating environment of the above control method is ARDUINO IDE, which can upload real-time programs to the ARDUINO UNO development board via USB, and also has functions such as serial port monitor and program error identification.

[0048] In the present invention, after the data processing module receives the analog input of the corresponding channel, it converts it into a PWM frequency of 0 to 255 through a map function, which is used to control the force feedback gain effect of the DC brush air pump assembly. At the same time, the solenoid valve 10 controls the deflation effect of the separate air path through on-off delay to achieve the force feedback pressure reduction effect.

[0049] In this embodiment, the following technical means are applied (wherein the symbol / / is preceded by the corresponding program code and the symbol / / is followed by the function implemented by the program code):

[0050] #define getIntervalTime 50 / / Get data interval time (milliseconds);

[0051] #define pressureThreshold 1000 / / Pressure threshold, when the pressure reaches or exceeds this value, the air pump and the solenoid valve are controlled (this threshold corresponds to the full scale of the pressure sensor 0-1023 digital quantity to the no-load state. It should be set to 1000-980 after experiments to avoid erroneous force feedback caused by increased stress in the pressure sensor due to changes in the position of the bionic hand)

[0052] unsigned long previousMillis = 0; / / Auxiliary function: read the pressure value on the analog pin

[0053] int readPressure(int pressurePin);

[0054] return analogRead(pressurePin) / / Directly returns the analog value read

[0055] void controlPumpAndValve(int pressureValue,int pumpPin,int valvePin){

[0056] if(pressureValue>=pressureThreshold){

[0057] digitalWrite(pumpPin,airPumpOFF);

[0058] digitalWrite(valvePin,airValveON); / / Auxiliary function: control the air pump and solenoid valve according to the pressure value, such as filling and deflation of the air pump and opening / closing of the solenoid valve;

[0059] delay(5); / / Wait for deflation. Here, a delay of 5ms is added so that the solenoid valve has enough time to respond (this is because the dynamic system has a certain inertia, and the delay is to match the inertia);

[0060] digitalWrite(valvePin,airValveOFF) / / Close the air release solenoid valve;

[0061] }else{

[0062] / / When the pressure is lower than the threshold, gradually turn on the air pump and close the deflation solenoid valve;

[0063] analogWrite(pumpPin,map(pressureValue,1023,0,150,255)); / / Set the speed of the air pump according to the pressure value. The PWM frequency of 150-255 is an empirical value. Different air pumps and air path lengths have uncertain effects on the establishment of the internal pressure of the force feedback airbag. Here, the starting frequency is set to 150 to allow the force feedback airbag to quickly establish feedback pressure.

[0064] analogWrite(valvePin,0) / / Close the venting solenoid valve

[0065] }

[0066] }

[0067] / / The main program is as follows

[0068] void setup(){

[0069] Serial.begin(9600);

[0070] / / Initialize the air pump and solenoid valve pins to output mode;

[0071] pinMode(airPumpPinA0,OUTPUT);

[0072] pinMode(airValvePinA0,OUTPUT);

[0073] void loop()

[0074] unsigned long currentMillis=millis();

[0075] if(currentMillis-previousMillis>=getIntervalTime){

[0076] previousMillis = currentMillis; / / Read the value of each pressure sensor

[0077] int pressureValueA0=readPressure(pressurePinA0);

[0078] controlPumpAndValve(pressureValueA0,airPumpPinA0,airValvePinA0); / / Control the air pump and solenoid valve of A0 according to the read pressure value, where pressureValueA0 represents the pressure value, airPumpPinA0 represents the air pump inflation pin, and airValvePinA0 represents the solenoid valve deflation pin.

[0079] The above program segment is only a control method for controlling a single force feedback air circuit A0 composed of a brushed DC air pump and a solenoid valve system. It should be pointed out that this control method is scalable to other pathways, and feedback force calibration is required when deploying a new force feedback air circuit.

[0080] In the control process, it is first necessary to compare the analog signal at the current moment with the analog signal at the previous moment. When the pressure corresponding to the analog signal at the current moment is less than the pressure corresponding to the analog signal at the previous moment, it means that the pressure has decreased. At this time, the air pump control parameters include the opening time of the solenoid valve and the speed parameters of the air pump, that is, the air pump speed is reduced while the air is released through the solenoid valve.

[0081] When the pressure corresponding to the analog signal at the current moment is less than the pressure corresponding to the analog signal at the previous moment, it means that the pressure has increased. At this time, the air pump control parameters include the air pump speed parameters, that is, increasing the air pump speed can fill the airbag with more gas.

[0082] In the present invention, the data processing module maps the analog signal to the air pump control parameter including: calculating the proportional relationship between the analog signal and the measuring range of the film pressure sensor; and selecting the corresponding air pump control parameter within the effective air pump control parameter range of the air pump according to the proportional relationship.

[0083] For example, if the analog signal value is 700 and the range of the thin film pressure sensor is 0-1023, the ratio of the analog signal within the range can be calculated based on 700 and the range, such as 700 / 1023, and then the corresponding air pump control parameters are selected based on the ratio. Similarly, when selecting the air pump control parameters, assuming that the control range is 150-255Hz, the corresponding 700 / 1023 node is selected within the range as the control parameter.

[0084] In this invention, the larger the analog signal value is, the smaller the pressure signal is. When the analog signal value is 1023, it means there is no pressure signal. When the analog signal value is 0, it means that the detected pressure has reached the upper limit of the pressure sensor.

[0085] In addition, it should be noted that a signal threshold is set in the present invention. When the analog signal is greater than the signal threshold, the operation of mapping the analog signal to the air pump control parameter is not performed. For example, when the analog signal is 1015 and the signal threshold is 1000, the operation of mapping the analog signal to the air pump control parameter is not performed. This is because when the analog signal is greater than the signal threshold, it means that the pressure signal is very small. The pressure generated at this time may be a slight change caused by the change in the posture of the bionic manipulator, etc. Therefore, the analog signal is set to the maximum value of the range of the thin film pressure sensor, that is, it is considered that there is no pressure signal or the pressure is zero.

[0086] When the analog signal is less than or equal to the signal threshold, the analog signal is mapped to the operation of the air pump control parameter. At this time, it means that a certain pressure signal is detected, and the signal strength exceeds the small change caused by the change of the bionic manipulator posture. At this time, it is necessary to generate a change in the airbag volume to enable the operator to sense the pressure change at the bionic manipulator end.

[0087] In the embodiment of the present invention, when deploying a new force feedback channel control algorithm and its air circuit and airbag, due to the interference of the system air tightness and the elastic deformation of the trachea, it is easy to cause insensitivity or distortion of force feedback. At this time, it is necessary to calibrate the channel analogWrite(pumpPin,map(pressureValue,1023,0,xxx,255)). When the threshold of triggering the force feedback air pump is reached, the parameter xxx is the lower limit of the effective air pump control parameter range. Specifically, the upper limit of the speed parameter range in the effective air pump control parameter range is the maximum speed of the air pump, and the lower limit is measured by experiment.

[0088] The DC brushless air pump speed is controlled by parameter xxx to achieve accurate tactile force feedback. The calibration process is achieved by measuring the pressure sensor and the feedback force of the airbag end with a force gauge. In detail, since the pressure signal is simulated by the airbag, the volume change of the airbag cannot start from zero to the maximum upper limit. Otherwise, when the inflation volume is small, the operator's hand will find it difficult to perceive the specific change of the airbag. Therefore, the airbag should have a certain initial volume before the change, which corresponds to the air pump control parameter, that is, the lower limit of the effective air pump control parameter range.

[0089] In summary, the feedback component and control method of the present invention provide a new pressure simulation method, which solves the shortcomings of the existing piezoelectric ceramic driver combined with the wearable glove configuration force feedback system, such as low piezoelectric coefficient and high driving voltage. In addition, the control system can expand the pneumatic servo channel according to the work task requirements.

[0090] The present invention also discloses a control device for a multi-channel pneumatic feedback component, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above method is implemented.

[0091] The present invention also discloses an embodiment that provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0092] The present invention also provides a computer program product. When the computer program product runs on a data storage device, the data storage device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0093] If the integrated unit module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to a storage device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0094] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0095] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0096] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0097] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Claims

1. A multi-channel pneumatic force feedback component, characterized in that: It comprises a signal conversion module which is data-connected to a thin film pressure sensor (0) installed on the bionic manipulator; The AO pin (4) of the signal conversion module is a data processing module, and the data processing module is also connected to a servo control module of the air pump (8); The output end of the air pump (8) is connected to the air bag of the teleoperation force feedback device, so as to simulate the pressure on the bionic manipulator through the air bag; The data processing module is used to map the received pressure analog quantity into a control quantity of the air pump (8) or a control quantity of the electromagnetic valve (10) corresponding to the air pump (8) and send it to the servo control module.

2. A control method for a multi-channel pneumatic force feedback assembly as claimed in claim 1, characterized in that: The following steps are involved: The thin film pressure sensor (0) measures the pressure signal and sends it to the signal conversion module; The signal conversion module converts the pressure signal into an analog signal and sends it to the data processing module; The data processing module maps the analog signal into an air pump control parameter and sends it to the servo control module; The servo control module controls the air pump (8) to inflate or deflate the airbag of the teleoperated force feedback device according to the control parameters.

3. A control method for a multi-channel pneumatic force feedback assembly as claimed in claim 2, characterized in that: The data processing module maps the analog signal into an air pump control parameter including: Calculating a proportional relationship between the analog signal and the measuring range of the thin film pressure sensor (0); According to the proportional relationship, a corresponding air pump control parameter is selected within the effective air pump control parameter range of the air pump (8).

4. A control method for a multi-channel pneumatic force feedback assembly as claimed in claim 3, characterized in that: Before calculating the proportional relationship between the analog signal and the measuring range of the thin film pressure sensor (0), the method includes: Compare the analog signal at the current moment with the analog signal at the previous moment; When the pressure corresponding to the analog signal at the current moment is less than the pressure corresponding to the analog signal at the previous moment, the air pump control parameters include the opening time of the solenoid valve (10) and the speed parameter of the air pump (8).

5. A control method for a multi-channel pneumatic force feedback assembly as claimed in claim 4, characterized in that: When the pressure corresponding to the analog signal at the current moment is less than the pressure corresponding to the analog signal at the previous moment, the air pump control parameter includes a rotation speed parameter of the air pump (8).

6. A control method for a multi-channel pneumatic force feedback assembly according to any one of claims 3 to 5, characterized in that: The data processing module maps the analog signal into an air pump control parameter including: When the analog signal is greater than the signal threshold, the operation of mapping the analog signal to the air pump control parameter is not performed; When the analog signal is less than or equal to the signal threshold, the analog signal is mapped to an operation of an air pump control parameter.

7. A control method for a multi-channel pneumatic force feedback assembly as claimed in claim 4, characterized in that: The upper limit of the range of the speed parameter in the effective air pump control parameter range is the maximum air pump speed, and the lower limit is measured through experiments.

8. A control device for a multi-channel pneumatic force feedback assembly, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 2 to 7 is implemented.

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