Physiotherapy robot control method, device, equipment and medium

Abstract

The invention relates to the technical field of robots, in particular to a physiotherapy robot control method, device and equipment and a medium. Contact force between the massage head and the human body is collected in real time, the contact force is compared with reference massage force to obtain force difference, expected control force needing to be applied to the massage head is calculated according to the force difference, and then expected acceleration needing to be achieved by the massage head for achieving the expected control force is calculated. Finally, the massage head is controlled to move at the expected acceleration by controlling the movement of the mechanical arm, so that the contact force is improved, and finally the improved contact force approaches the reference massage force. According to the analysis, the contact force is gradually changed by moving the position of the massage head, that is, the increase and decrease of the contact force are gradual, the discomfort of a user is not caused, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device, equipment and medium for controlling a physiotherapy robot. Background Art

[0002] The physiotherapy robot massages the human body through the massage head to achieve the purpose of physiotherapy. The existing technology sets a safety threshold for the physiotherapy robot. When the force applied by the massage head to the human body is greater than the safety threshold, the force applied to the human body is reduced to ensure the safety of the human body; when the force applied by the massage head to the human body is far less than the safety threshold and cannot achieve the physiotherapy effect, the magnitude of the force needs to be appropriately increased to ensure the physiotherapy effect. The existing technology directly adjusts the force applied by the massage head to the human body. Although it can ensure safety and physiotherapy effects, the sudden increase or decrease in force will cause discomfort to the human body, thereby reducing the user experience.

[0003] In summary, the physiotherapy robots in the prior art reduce the user experience.

[0004] Therefore, the prior art still needs to be improved and enhanced. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a physiotherapy robot control method, device, equipment and medium, which solves the problem that the physiotherapy robot in the prior art reduces the user experience.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a method for controlling a physiotherapy robot, comprising:

[0008] Acquire the contact force between the human body and the massage head, determine the force difference between the contact force and the reference massage force, and determine the desired control force to be applied to the massage head according to the force difference, wherein the direction of the control force is in the direction of the contact force;

[0009] Determining a desired acceleration of the massage head according to the desired control force;

[0010] The massage head is controlled to move in a direction such that the contact force tends toward the reference massage force at the desired acceleration by controlling the movement of the mechanical arm of the physiotherapy robot.

[0011] In one implementation, determining the desired control force to be applied to the massage head according to the force difference includes:

[0012] Determine the force difference at the current moment, the force difference at the first moment, and the force difference at the second moment among the force differences, wherein the first moment is the moment before the current moment, and the second moment is the moment before the first moment;

[0013] The control force applied to the massage head at the first moment is obtained, and the expected control force to be applied to the massage head at the current moment is determined according to the control force, the force difference at the current moment, the force difference at the first moment, and the force difference at the second moment.

[0014] In one implementation, determining the desired acceleration of the massage head according to the desired control force includes:

[0015] Obtaining the desired speed of the massage head and the diagonal matrix of the inertia coefficient of the physiotherapy robot;

[0016] The expected acceleration of the massage head is determined according to the expected control force, the expected speed, and the inertia coefficient diagonal matrix.

[0017] In one implementation, the robotic arm is a six-axis robotic arm, the top of the robotic arm is slidably connected to the guide rail of the physiotherapy robot, and the massage head is located at the bottom of the robotic arm.

[0018] In one implementation, the method further includes:

[0019] Acquire a desired position and posture of the massage head, wherein the desired position and posture includes a desired horizontal coordinate of the massage head;

[0020] Applying a guide rail inverse kinematics function to the desired horizontal coordinate to obtain a target position of the top of the manipulator on the guide rail;

[0021] The top of the mechanical arm is controlled to move to the target position so that the massage head is located at the desired horizontal coordinate.

[0022] In one implementation, the desired posture further includes the desired ordinate, desired vertical coordinate, desired pitch angle, desired yaw angle, and desired roll angle of the massage head, and further includes:

[0023] Applying a robot arm inverse kinematics function to the desired ordinate, desired vertical coordinate, desired pitch angle, desired yaw angle, and desired roll angle to obtain target angles of six rotational joints of the six-axis robot arm;

[0024] The angles of the six rotating joints of the six-axis robot arm are controlled to present the target angles, so that the posture of the massage head is the desired posture.

[0025] In one implementation, the method further includes:

[0026] Obtaining a physiotherapy task input to the physiotherapy robot, and decomposing the physiotherapy task into a plurality of subtasks;

[0027] The massage head is controlled to independently complete the subtask.

[0028] In a second aspect, an embodiment of the present invention further provides a physiotherapy robot control device, wherein the device includes the following components:

[0029] an expected control force calculation module, used for obtaining the contact force between the human body and the massage head, determining the force difference between the contact force and the reference massage force, and determining the expected control force to be applied to the massage head according to the force difference, wherein the direction of the control force is in the direction of the contact force;

[0030] An expected acceleration calculation module, used to determine an expected acceleration of the massage head according to the expected control force;

[0031] The movement control module is used to control the movement of the mechanical arm of the physiotherapy robot to control the massage head to move in the direction of making the contact force tend to the reference massage force at the desired acceleration.

[0032] In a third aspect, an embodiment of the present invention further provides a terminal device, wherein the terminal device comprises a memory, a processor, and a physiotherapy robot control program stored in the memory and executable on the processor, and when the processor executes the physiotherapy robot control program, the steps of the above-mentioned physiotherapy robot control method are implemented.

[0033] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a physiotherapy robot control program is stored. When the physiotherapy robot control program is executed by a processor, the steps of the above-mentioned physiotherapy robot control method are implemented.

[0034] Beneficial effects: The present invention collects the contact force between the massage head and the human body in real time, and compares the difference in size between the contact force and the reference massage force to obtain the force difference, and then calculates the desired control force that needs to be applied to the massage head based on the force difference, and then calculates the desired acceleration that the massage head needs to reach to achieve the desired control force, and finally controls the movement of the mechanical arm to control the massage head to move at the desired acceleration to improve the contact force, and finally makes the improved contact force approach the reference massage force. From the above analysis, it can be seen that the present invention gradually changes the contact force by moving the position of the massage head, that is, the increase and decrease of the contact force of the present invention is gradual, which will not cause discomfort to the user, thereby increasing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is the overall flow chart of the present invention;

[0036] Figure 2 is a structural diagram of a physiotherapy robot in an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of the interaction between the planning layer and the control layer in an embodiment of the present invention;

[0038] Figure 4 This is a state transition diagram of a state machine in an embodiment of the present invention;

[0039] Figure 5 is a flow chart of force-position hybrid control in an embodiment of the present invention;

[0040] Figure 6 is a flowchart of executing subtasks in an embodiment of the present invention;

[0041] Figure 7 is a flow chart of executing the entire massage task in an embodiment of the present invention;

[0042] Figure 8 A structural diagram of the physiotherapy robot control device provided by the present invention;

[0043] Fig. 9 This is a block diagram of the internal structure principle of the terminal device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following is a clear and complete description of the technical solution of the present invention in combination with the embodiments and the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Research has found that the physiotherapy robot uses a massage head to massage the human body to achieve the purpose of physiotherapy. The existing technology sets a safety threshold for the physiotherapy robot. When the force applied by the massage head to the human body is greater than the safety threshold, the force applied to the human body is reduced to ensure the safety of the human body; when the force applied by the massage head to the human body is far less than the safety threshold and cannot achieve a physiotherapy effect, the magnitude of the force needs to be appropriately increased to ensure the physiotherapy effect. The existing technology directly adjusts the force applied by the massage head to the human body. Although it can ensure safety and physiotherapy effects, the sudden increase or decrease in force will cause discomfort to the human body, thereby reducing the user experience.

[0046] In order to solve the above technical problems, the present invention provides a physiotherapy robot control method, device, equipment and medium, which solves the problem that the physiotherapy robot in the prior art reduces the user experience.

[0047] The control method of the physiotherapy robot of this embodiment can be applied to a terminal device, which can be a terminal product with a control function, such as a robot controller. Figure 1 As shown in, the physiotherapy robot control method specifically includes the following steps:

[0048] S100, obtaining a contact force between a human body and a massage head, determining a force difference between the contact force and a reference massage force, and determining a desired control force to be applied to the massage head according to the force difference, wherein a direction of the control force is in a direction of the contact force;

[0049] S200, determining a desired acceleration of the massage head according to the desired control force;

[0050] S300, controlling the movement of the mechanical arm of the physiotherapy robot to control the massage head to move in the direction of making the contact force tend toward the reference massage force at the desired acceleration.

[0051] Embodiment 1, this embodiment provides a Figure 2 The physiotherapy robot shown in the figure is controlled based on steps S100, S200 and S300.

[0052] like Figure 2 As shown, the physiotherapy robot includes a mobile module 100, a mechanical arm 200, a bed 300, and a frame 400 fixed on the upper side of the bed 300. The mobile module 100 further includes a guide rail 110 fixed on the frame 400, a slider 120 slidably arranged on the guide rail 110, and a stepper motor 130 for driving the slider 120 to move along its axial direction on the guide rail 110. The mechanical arm 200 further includes an adjustment arm 210 (composed of two sections of adjustment joints 211) connected to the slider 120, a massage head 220 and an extension frame 250 connected to the adjustment arm 210, an RGBD camera 240 located on the side of the extension frame 250 facing the bed 300, and a six-dimensional sensor 230 located between the massage head 220 and the adjustment arm 210. Since the adjustment arm 210 is composed of two sections of adjustment joints 211, the six-dimensional sensor 230 is located between one of the adjustment joints 211 and the massage head 220.

[0053] The robot arm 200 of this embodiment is a six-axis robot arm. The six-axis robot arm and the guide rail 110 implement joint control of the massage head 220 to achieve multi-degree-of-freedom operation of the massage head 220. The top of the robot arm 200 (i.e., the six-axis robot arm) is slidably set on the guide rail 110, so that the guide rail 110 serves as the seventh degree of freedom of the robot arm 200, so that the six-axis robot arm has seven degrees of freedom, and finally the physiotherapy robot has the ability of redundant control. On the basis of ensuring the posture of the massage head 220, the guide rail 110 can be used to move in a large range, thereby expanding the massage coverage. In this way, the robot arm 200 can not only perform massage tasks in a larger space, but also flexibly adjust the posture in a complex environment to achieve precise massage of different parts of the human body.

[0054] The massage head 220 of this embodiment is highly flexible and extensible, supports the switching and management of multiple massage heads, can flexibly add new massage heads and complete the control of different massage heads through a unified control panel. Users can easily select and switch different types of massage heads, such as Bianstone massage, cupping, current stimulation, etc. The operating parameters of each massage head (such as current size, temperature, speed, etc.) can be uniformly managed and adjusted through the system. The system supports adding new massage heads through simple configuration or code expansion, without major modifications to the underlying control logic, ensuring the scalability and adaptability of the system.

[0055] Embodiment 2, based on embodiment 1, provides a control system for a physiotherapy robot, the process of which includes the entire closed-loop control process from user input to task planning, visual processing, control execution, feedback adjustment and task completion. Figure 3 As shown in the figure, the control system consists of a planning layer and a control layer. The planning layer is responsible for decomposing complex tasks into multiple subtasks and planning paths. For example, for different tasks such as stone needle massage, cupping, and current stimulation, the planning layer will design appropriate paths and execution sequences according to the characteristics of each task to ensure that each task can be completed efficiently. Through task decomposition, the planning layer can transform an overall task into a series of point movements and posture adjustments, so that each subtask can be scheduled and executed independently.

[0056] The control layer is responsible for performing specific hardware operations and real-time feedback adjustments. Through this hierarchical control architecture, the system can flexibly and efficiently perform a variety of massage tasks while ensuring the safety of operation and the flexibility of user experience. The control layer obtains the posture and sensor data of the robotic arm in real time through the robotic arm measurement thread, the track control thread adjusts the movement of the sliding guide rail, and the robotic arm control thread executes various control algorithms (such as force control, position control, and admittance control, etc.) according to the instructions of the planning layer to ensure that the robotic arm operates according to the specified trajectory and force. At the same time, the log thread records the operating status and key data of the system to provide support for debugging and system optimization. As the execution layer, the control layer is responsible for converting the high-level task instructions of the planning layer into specific hardware actions.

[0057] like Figure 4As shown in the figure, the states of the planning layer include idle state, stop state, visual processing state, and task state. When the user does not input any information to the robot, the system is in an idle state, and the robot arm and sensor remain stationary to save energy and avoid unnecessary movement. When the system switches to the stop state, the movement of the robot arm and the slider will be stopped to ensure the safety of the user. If the system detects an abnormality, such as the robot arm being subjected to excessive external force, the system will automatically enter the stop state. When the system is in the visual processing state, the RGBD camera is started to collect key position information of the human body, perform segmented photography and image stitching, and identify functional areas and acupuncture points. At the same time, through visual data, the system can also obtain the normal vector information of the body surface, providing a basis for the precise execution of subsequent tasks. The task state includes a variety of specific massage tasks, such as Bianstone massage, cupping, current stimulation, and massage. After entering the task state, the system performs specific massage tasks according to the user's choice and the system's planning. Each task has its own specific operation process and parameter settings. For example, in a Bianstone massage task, the system adjusts the posture of the massage head according to the identified acupoints and normal vectors, and performs massage operations on the set trajectory.

[0058] The above-mentioned states can be controlled through the UI interface and voice module, and can also be controlled through the AI-based large model interface to realize automatic control of task execution and parameter adjustment. This enables the system to perform complex task scheduling according to the user's real-time needs or preset plans.

[0059] The control layer implements control operations on the robotic arm and its related sensors through the measurement thread, robotic arm control thread, guide rail control thread, and log thread to ensure the stability and real-time performance of the system.

[0060] Among them, the measurement thread is responsible for reading the attitude information and status information of the robot arm in real time, and obtaining force feedback data in six directions from the six-dimensional force sensor. The measurement thread also calibrates the end load gravity compensation algorithm for the force feedback data according to the current massage head type. The robot arm control thread calculates the control amount of the robot arm according to the currently selected control algorithm. Common control algorithms include admittance control and force-position hybrid control. According to the control amount, the thread will send control instructions to the underlying controller of the robot arm to adjust the attitude and position of the robot arm. The underlying servo position controller of the robot arm controls the joints. The guide rail control thread is responsible for obtaining the position information of the guide rail and processing abnormal data (such as filtering and abnormality detection). Under normal working conditions, the guide rail control thread generates a smooth moving trajectory by calculating the difference between the current position and the target position, and sends the expected position instruction to the guide rail actuator. The log thread is responsible for recording the system's operating information, including attitude, force feedback, trajectory execution status and other data. The log record can be used for subsequent troubleshooting and system optimization. Since the log thread is a daemon thread, it runs in the system background and can be dynamically started and stopped according to demand.

[0061] Embodiment 3, based on embodiment 2, this embodiment provides a control algorithm for controlling a robotic arm, including force-position hybrid control, and steps S100, S200, and S300 are the specific processes of the force-position hybrid control algorithm. In this embodiment, the step S100 determines the expected control force to be applied to the massage head based on the force difference, including: determining the force difference at the current moment, the force difference at the first moment, and the force difference at the second moment in the force difference, the first moment being the moment before the current moment, and the second moment being the moment before the first moment; obtaining the control force applied to the massage head at the first moment, and determining the expected control force F to be applied to the massage head at the current moment based on the control force, the force difference at the current moment, the force difference at the first moment, and the force difference at the second moment. c t :

[0062]

[0063] In the formula, e t is the force difference at the current time t, t-1 is the first moment, e t-1 is the force difference at the first moment, t-2 is the force difference at the second moment, e t-2 is the force difference at the second moment, is the contact force between the human body and the massage head at the current time t, It is the contact force between the human body and the massage head at the first moment t-1. is the contact force between the human body and the massage head at the second moment t-2 are the reference massage forces, which are the forces expected by the user. If the same part of the human body is massaged at the three moments t, t-1, and t-2, then equal; if you massage three different parts of the human body at the three moments t, t-1, and t-2, then Not equal. p , K i , K d are all diagonal matrices of stiffness coefficients.

[0064] In this embodiment, step S200 includes the following specific steps: obtaining the desired speed of the massage head and the inertia coefficient diagonal matrix M of the physiotherapy robot; according to the desired control force The expected speed The inertia coefficient diagonal matrix M determines the expected acceleration of the massage head

[0065]

[0066] Where B is the diagonal matrix of damping coefficients.

[0067] This embodiment can also calculate the expected acceleration in the following manner:

[0068]

[0069] Control the massage head to the desired acceleration Moving can ensure that the desired position that the massage head eventually reaches and the current position will not differ too much, thereby ensuring the smoothness of the massage head and further improving the user experience.

[0070] This embodiment also provides a control block diagram of force-position hybrid control, such as Figure 5 As shown, a force-position hybrid control algorithm is implemented by a PID controller, an impedance force controller and a force filter with an attitude admittance controller to control the robotic arm.

[0071] Embodiment 4, based on embodiment 2, this embodiment provides an admittance control method, the admittance control method is that when the user inputs the required contact force F to the physiotherapy robot e , based on the expected acceleration of the massage head Move to desired location In order to make the force between the massage head and the human body reach F e .

[0072]

[0073] In the formula, xe =xx d , K, B, and M represent the diagonal matrix of stiffness coefficients, the diagonal matrix of damping coefficients, and the diagonal matrix of inertia coefficients, respectively.

[0074] Attitude error R e :

[0075]

[0076] is the expected speed corresponding to time t, is the expected position corresponding to time t.

[0077] Embodiment 5, based on embodiment 2, provides a guide rail control method, that is, by controlling the position of the slider on the guide rail, the massage head posture X can be controlled. end control.

[0078] X end =f kin (q rail ,θ)

[0079] In the formula, f kin is the forward kinematic function of the guide rail plus the manipulator, q rail is the position or angle of the slider on the guide rail, and θ is the angle of the six rotational joints on the robot arm.

[0080] When the user inputs the desired pose X to the robot end (X end Including the expected horizontal coordinate x, the expected vertical coordinate y, the expected vertical coordinate z, the expected pitch angle roll, the expected yaw angle pitch, and the expected roll angle yaw), through X end =f kin (q rail ,θ) can calculate q rail and the value of θ, and then move the slider so that the slider reaches q rail The six rotation joints on the robot arm are controlled to rotate to θ, and the massage head will present the desired posture X end .

[0081] Since the slider carries the massage head and moves along the horizontal axis on the guide rail, when q is calculated rail When, according to q rail We can calculate x:

[0082] x=f rail (q rail )

[0083] In the formula, f rail is the inverse kinematics function of the guide rail.

[0084] By x=f rail (q rail ) Calculate X end In x, then X end It becomes a five-dimensional data X containing only y, z, roll, pitch, and yaw end[5] , through X end[5] Inverse the value of θ: At this time, the value of θ is calculated, where f robot is the inverse kinematics function of the robot arm, and the angles of the six rotational joints of the robot arm are controlled by θ.

[0085] When the robot arm is a redundant robot arm, θ and q rail The solution of is constructed into a set. For different massage tasks, the optimal posture of the robot arm is calculated (that is, the group of postures closest to the joint space of the previous moment). The optimal posture is usually the group of postures closest to the joint space of the previous moment, which can reduce the load of the robot arm joint to a certain extent and extend the service life of the robot arm. Then, an optimization problem is established to minimize the gap between the robot arm posture and the optimal posture, and the control amount of the guide rail joint is obtained from the inverse solution set. Θ is the range of the robot's reachable joint space.

[0086] min θ ∣θ-θ des ∣ 2

[0087] xT end =f kin (q rail ,θ)

[0088]

[0089] θ∈Θ

[0090] Therefore, for a joint end position in the feasible domain, the expected guide rail position q can be calculated rail =f inv (X target ),f inv f robot and f rail The sum of ,X target = X. The target position is sent to the orbit control thread, and then the final orbit joint tracking is achieved through simple PID control.

[0091] Embodiment 5, based on embodiment 2, this embodiment decomposes the therapy task input to the robot into several subtasks (i.e., subtasks are sequences); and controls the massage head to independently complete the subtasks. Subtasks include pressing, linear movement, circular motion, massage movements, and cupping operations. These subtasks correspond to different massage techniques, respectively. By decomposing the complex massage process into these basic movements, the system can more flexibly and accurately control the movement and strength of the robotic arm to meet different massage needs. This decomposition method not only helps to improve the stability and controllability of task execution, but also can quickly adjust and combine specific massage techniques according to the user's personalized requirements, thereby improving the user experience.

[0092] The execution of each subtask includes Figure 6 The steps shown are to first determine the target position or trajectory, including the target position and posture of the massage head and the target position of the slider on the guide rail, and generate the trajectory according to the task requirements (such as linear movement, circular motion, etc.).

[0093] When the trajectory is a linear trajectory:

[0094] When the trajectory is a circular arc trajectory:

[0095] Where R is the radius and θ(t) is the change in angle over time.

[0096] The control algorithm is called to jointly control the movement of the slider on the guide rail and the movement of the robot arm to control the massage head to move along the trajectory calculated above.

[0097] During the movement of the massage head, the movement of the robotic arm and the slider on the guide rail is adjusted in real time according to the feedback results of the force sensor and the joint sensor to ensure that the predetermined force and position requirements are met during the execution process.

[0098] like Figure 7 As shown, if an abnormality occurs during the execution of a subtask, the robot's display screen will prompt an error. If no abnormality occurs, but the user inputs a voice command to the robot to stop massaging, the robot will change to the stop state.

[0099] When all subtasks involved in the entire massage task are completed, the robotic arm and guide rail return to the initial state or prepare to execute the next subtask.

[0100] In summary, the present invention significantly enhances the adaptability of the operating space through the joint control of the sliding guide rail and the six-axis robot arm. At the same time, through the full-process force control strategy, combined with the real-time feedback of the six-dimensional force sensor, the safety and comfort during the massage process are ensured. The intelligent user interaction design improves the user experience and enables users to customize the massage operation according to their own needs. The redundant control design enables the system to have higher accuracy and stability during the task execution process, and can flexibly adjust the posture in a complex environment. In addition, the system supports a variety of massage tasks, has efficient task adaptability and execution capabilities, and meets personalized and refined massage needs. Therefore, the present invention has significantly improved safety, flexibility and user experience compared to the prior art.

[0101] This embodiment also provides a physical therapy robot control device, such as Figure 8 As shown, the device comprises the following components:

[0102] The expected control force calculation module 01 is used to obtain the contact force between the human body and the massage head, determine the force difference between the contact force and the reference massage force, and determine the expected control force to be applied to the massage head according to the force difference, wherein the direction of the control force is in the direction of the contact force;

[0103] An expected acceleration calculation module 02, used to determine the expected acceleration of the massage head according to the expected control force;

[0104] The movement control module 03 is used to control the movement of the mechanical arm of the physiotherapy robot to control the massage head to move in the direction of making the contact force tend to the reference massage force at the desired acceleration.

[0105] Based on the above embodiments, the present invention further provides a terminal device, whose principle block diagram can be shown as follows: Fig. 9 As shown. The terminal device includes a processor, a memory, a network interface, and a display screen connected via a system bus. Among them, the processor of the terminal device is used to provide computing and control capabilities. The memory of the terminal device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the terminal device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for controlling a physiotherapy robot is implemented. The display screen of the terminal device can be a liquid crystal display screen or an electronic ink display screen.

[0106] Those skilled in the art will understand that Fig. 9The principle block diagram shown in the figure is only a block diagram of a partial structure related to the scheme of the present invention, and does not constitute a limitation on the terminal device to which the scheme of the present invention is applied. The specific terminal device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0107] In one embodiment, a terminal device is provided, the terminal device includes a memory, a processor, and a physiotherapy robot control program stored in the memory and executable on the processor, and when the processor executes the physiotherapy robot control program, the following operation instructions are implemented:

[0108] Acquire the contact force between the human body and the massage head, determine the force difference between the contact force and the reference massage force, and determine the desired control force to be applied to the massage head according to the force difference, wherein the direction of the control force is in the direction of the contact force;

[0109] Determining a desired acceleration of the massage head according to the desired control force;

[0110] The massage head is controlled to move in a direction such that the contact force tends toward the reference massage force at the desired acceleration by controlling the movement of the mechanical arm of the physiotherapy robot.

[0111] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a physical therapy robot, characterized in that: include: Acquire the contact force between the human body and the massage head, determine the force difference between the contact force and the reference massage force, and determine the desired control force to be applied to the massage head according to the force difference, wherein the direction of the control force is in the direction of the contact force; Determining a desired acceleration of the massage head according to the desired control force; The massage head is controlled to move in a direction such that the contact force tends toward the reference massage force at the desired acceleration by controlling the movement of the mechanical arm of the physiotherapy robot.

2. The physiotherapy robot control method according to claim 1, characterized in that: Determining a desired control force to be applied to the massage head according to the force difference includes: Determine the force difference at the current moment, the force difference at the first moment, and the force difference at the second moment among the force differences, wherein the first moment is the moment before the current moment, and the second moment is the moment before the first moment; The control force applied to the massage head at the first moment is obtained, and the expected control force to be applied to the massage head at the current moment is determined according to the control force, the force difference at the current moment, the force difference at the first moment, and the force difference at the second moment.

3. The physiotherapy robot control method according to claim 1, characterized in that: Determining the expected acceleration of the massage head according to the expected control force includes: Obtaining the desired speed of the massage head and the diagonal matrix of the inertia coefficient of the physiotherapy robot; The expected acceleration of the massage head is determined according to the expected control force, the expected speed, and the inertia coefficient diagonal matrix.

4. The physiotherapy robot control method according to claim 1, characterized in that: The mechanical arm is a six-axis mechanical arm, the top of the mechanical arm is slidably connected to the guide rail of the physiotherapy robot, and the massage head is located at the bottom of the mechanical arm.

5. The physiotherapy robot control method according to claim 4, characterized in that: Also includes: Acquire a desired position and posture of the massage head, wherein the desired position and posture includes a desired horizontal coordinate of the massage head; Applying a guide rail inverse kinematics function to the desired horizontal coordinate to obtain a target position of the top of the manipulator on the guide rail; The top of the mechanical arm is controlled to move to the target position so that the massage head is located at the desired horizontal coordinate.

6. The physiotherapy robot control method according to claim 5, characterized in that: The desired posture also includes the desired ordinate, desired vertical coordinate, desired pitch angle, desired yaw angle, and desired roll angle of the massage head, and also includes: Applying a robot arm inverse kinematics function to the desired ordinate, desired vertical coordinate, desired pitch angle, desired yaw angle, and desired roll angle to obtain target angles of six rotational joints of the six-axis robot arm; The angles of the six rotating joints of the six-axis robot arm are controlled to present the target angles, so that the posture of the massage head is the desired posture.

7. The physiotherapy robot control method according to claim 1, characterized in that: Also includes: Obtaining a physiotherapy task input to the physiotherapy robot, and decomposing the physiotherapy task into a plurality of subtasks; The massage head is controlled to independently complete the subtask.

8. A physiotherapy robot control device, characterized in that: The device comprises the following components: an expected control force calculation module, used for obtaining the contact force between the human body and the massage head, determining the force difference between the contact force and the reference massage force, and determining the expected control force to be applied to the massage head according to the force difference, wherein the direction of the control force is in the direction of the contact force; An expected acceleration calculation module, used to determine an expected acceleration of the massage head according to the expected control force; The movement control module is used to control the movement of the mechanical arm of the physiotherapy robot to control the massage head to move in the direction of making the contact force tend to the reference massage force at the desired acceleration.

9. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a physiotherapy robot control program stored in the memory and executable on the processor. When the processor executes the physiotherapy robot control program, the steps of the physiotherapy robot control method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a physiotherapy robot control program, and when the physiotherapy robot control program is executed by the processor, the steps of the physiotherapy robot control method as described in any one of claims 1-7 are implemented.

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