A physiotherapy robot control method, device, equipment and medium

Abstract

The present application relates to the technical field of robots, in particular to a physiotherapy robot control method, device, equipment and medium. The present application collects the contact force between the massage head and the human body in real time, compares the size difference between the contact force and the reference massage force, obtains the force difference, calculates the expected control force required to be applied to the massage head according to the force difference, then calculates the expected acceleration required to be reached by the massage head to achieve the expected control force, and finally controls the movement of the massage head at the expected acceleration through the movement control of the mechanical arm to control the massage head, so as to improve the contact force, and finally make the improved contact force approach the reference massage force. From the above analysis, it can be known that the present application gradually changes the contact force by moving the position of the massage head, that is, the contact force of the present application is gradually increased or decreased, which will not cause discomfort to the user, thereby increasing the user experience.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a control method, device, equipment, and medium for a physiotherapy robot. Background Technology

[0002] Physiotherapy robots use massage heads to massage the body to achieve therapeutic purposes. Current technology sets safety thresholds for these robots. When the force applied by the massage head exceeds this threshold, the force is reduced to ensure safety. Conversely, if the force is significantly less than the threshold and ineffective, the force is increased to maintain therapeutic efficacy. While directly adjusting the force applied by the massage head can ensure safety and therapeutic effect, sudden changes in force can cause discomfort and reduce user experience.

[0003] In conclusion, existing physiotherapy robots reduce the user experience.

[0004] Therefore, existing technologies still need to be improved and enhanced. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a method, apparatus, device, and medium for controlling a physiotherapy robot, thereby resolving the issue of reduced user experience in existing physiotherapy robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

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

[0008] The contact force between the human body and the massage head is obtained, the force difference between the contact force and the reference massage force is determined, and the desired control force to be applied to the massage head is determined based on the force difference, wherein the direction of the control force is the direction of the contact force.

[0009] Based on the desired control force, the desired acceleration of the massage head is determined;

[0010] By controlling the movement of the robotic arm of the physiotherapy robot, the massage head is controlled to move with the desired acceleration in the direction that causes the contact force to tend toward the reference massage force.

[0011] In one implementation, determining the desired control force to be applied to the massage head based on 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 in the force difference, where 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 desired control force to be applied to the massage head at the current moment is determined 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.

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

[0015] Obtain the desired velocity of the massage head and the diagonal matrix of the inertia coefficients of the physiotherapy robot;

[0016] The desired acceleration of the massage head is determined based on the desired control force, the desired velocity, and the diagonal matrix of the inertia coefficient.

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

[0018] One implementation also includes:

[0019] Obtain the desired pose of the massage head, wherein the desired pose includes the desired abscissa of the massage head;

[0020] By applying the inverse kinematics function of the guide rail to the desired horizontal coordinate, the target position of the top of the robotic arm on the guide rail is obtained;

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

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

[0023] By applying the inverse kinematics function of the robotic arm to the desired ordinate, desired vertical coordinate, desired pitch angle, desired yaw angle, and desired roll angle, the target angles of the six rotational joints of the six-axis robotic arm are obtained.

[0024] The angles of the six rotational joints of the six-axis robotic arm are controlled to present the target angle, so that the pose of the massage head is the desired pose.

[0025] One implementation also includes:

[0026] The physiotherapy task input to the physiotherapy robot is obtained, and the physiotherapy task is decomposed into several sub-tasks;

[0027] The massage head is controlled to independently complete the sub-task.

[0028] Secondly, embodiments of the present invention also provide a physiotherapy robot control device, wherein the device comprises the following components:

[0029] The desired control force calculation module 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 desired control force to be applied to the massage head based on the force difference, wherein the direction of the control force is the direction of the contact force.

[0030] The desired acceleration calculation module is used to determine the desired acceleration of the massage head based on the desired control force.

[0031] A motion control module is used to control the movement of the robotic arm of a physiotherapy robot to control the massage head to move with the desired acceleration in a direction that causes the contact force to tend toward the reference massage force.

[0032] Thirdly, embodiments of the present invention also provide a terminal device, wherein the terminal device includes a memory, a processor, and a physiotherapy robot control program stored in the memory and executable on the processor, wherein when the processor executes the physiotherapy robot control program, it implements the steps of the physiotherapy robot control method described above.

[0033] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a physiotherapy robot control program, wherein when the physiotherapy robot control program is executed by a processor, it implements the steps of the physiotherapy robot control method described above.

[0034] Beneficial Effects: This invention collects the contact force between the massage head and the human body in real time, compares the difference between this contact force and the reference massage force to obtain the force difference, and then calculates the desired control force to be applied to the massage head based on this force difference. Next, it calculates the desired acceleration that the massage head needs to achieve to achieve the desired control force. Finally, it controls the movement of the robotic arm to move the massage head at the desired acceleration, thereby improving the contact force and ultimately making the improved contact force approach the reference massage force. From the above analysis, it can be seen that this invention gradually changes the contact force by moving the position of the massage head; that is, the increase or decrease of the contact force in this invention is gradual and will not cause discomfort to the user, thus increasing the user experience. Attached Figure Description

[0035] Figure 1 This is an overall flowchart of the present invention;

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

[0037] Figure 3 This is 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 schematic diagram of the state transitions of the state machine in this embodiment of the invention;

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

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

[0041] Figure 7 This is a flowchart illustrating the execution of the entire massage task in an embodiment of the present invention;

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

[0043] Figure 9 This is a block diagram illustrating the internal structure of a terminal device provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments and accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0045] Research has found that physiotherapy robots use massage heads to massage the human body to achieve therapeutic purposes. Current technology sets safety thresholds for these robots. When the force applied by the massage head exceeds this threshold, the force is reduced to ensure safety. Conversely, when the force is significantly less than the threshold and ineffective, the force is increased to maintain therapeutic efficacy. While directly adjusting the force applied by the massage head can ensure safety and therapeutic effect, sudden changes in force can cause discomfort and reduce the user experience.

[0046] To address the aforementioned technical problems, this invention provides a method, apparatus, device, and medium for controlling a physiotherapy robot, thereby resolving the issue of reduced user experience in existing physiotherapy robots.

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

[0048] S100, 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 based on the force difference, wherein the direction of the control force is the direction of the contact force;

[0049] S200, based on the desired control force, determine the desired acceleration of the massage head;

[0050] S300, by controlling the movement of the robotic arm of the physiotherapy robot, the massage head is controlled to move with the desired acceleration in the direction that causes the contact force to tend toward the reference massage force.

[0051] Example 1: This example provides a... Figure 2 The physiotherapy robot shown is controlled based on steps S100, S200, and S300.

[0052] like Figure 2 As shown, the physiotherapy robot includes a mobile module 100, a robotic arm 200, a bed 300, and a frame 400 fixed above the side of the bed 300. The mobile module 100 includes a guide rail 110 fixed to the frame 400, a slider 120 slidably mounted on the guide rail 110, and a stepper motor 130 for driving the slider 120 to move axially along the guide rail 110. The robotic arm 200 includes an adjustable arm 210 (composed of two adjustable joints 211) connected to the slider 120, a massage head 220 and an extension frame 250 connected to the adjustable 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 adjustable arm 210. Since the adjustable arm 210 is composed of two adjustable joints 211, the six-dimensional sensor 230 is located between one of the adjustable joints 211 and the massage head 220.

[0053] In this embodiment, the robotic arm 200 is a six-axis robotic arm. The six-axis robotic arm and the guide rail 110 jointly control the massage head 220 to achieve multi-degree-of-freedom operation of the massage head 220. The top of the robotic arm 200 (i.e., the six-axis robotic arm) is slidably mounted on the guide rail 110, making the guide rail 110 the seventh degree of freedom of the robotic arm 200. This gives the six-axis robotic arm seven degrees of freedom, ultimately enabling the physiotherapy robot to have redundant control capabilities. While maintaining the posture of the massage head 220, it can utilize the guide rail 110 to perform a wide range of movements, thereby expanding the massage coverage area. In this way, the robotic arm 200 can not only perform massage tasks in a larger space but also flexibly adjust its posture in complex environments to achieve precise massage of different body parts.

[0054] The massage head 220 in this embodiment is highly flexible and scalable, supporting the switching and management of multiple massage heads. New massage heads can be flexibly added, and different massage heads can be controlled through a unified control panel. Users can easily select and switch between different types of massage heads, such as Bian stone massage, cupping, and electrical stimulation. The operating parameters of each massage head (such as current magnitude, temperature, and speed) can be uniformly managed and adjusted through the system. The system supports adding new massage heads through simple configuration or code extension without requiring major modifications to the underlying control logic, ensuring the system's scalability and adaptability.

[0055] Example 2, based on Example 1, provides a control system for a physiotherapy robot. The control system's flow includes the entire closed-loop control process from user input to task planning, visual processing, control execution, feedback adjustment, and task completion. For example... Figure 3 As shown, the control system consists of a planning layer and a control layer. The planning layer is responsible for decomposing complex tasks into multiple sub-tasks and planning paths. For example, for different tasks such as stone needle massage, cupping, and electrical 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 a whole task into a series of point movements and posture adjustments, so that each sub-task can be independently scheduled and executed.

[0056] The control layer is responsible for executing specific hardware operations and providing real-time feedback adjustments. This hierarchical control architecture allows the system to flexibly and efficiently perform various massage tasks while ensuring operational safety and user experience flexibility. The control layer acquires real-time posture and sensor data from the robotic arm through a robotic arm measurement thread, adjusts the movement of the sliding guide rail through a track control thread, and executes various control algorithms (such as force control, position control, and admittance control) according to instructions from the planning layer to ensure the robotic arm operates according to the specified trajectory and force. Simultaneously, a logging thread records the system's operating status and key data, providing support for debugging and system optimization. As the execution layer, the control layer is responsible for translating high-level task instructions from the planning layer into specific hardware actions.

[0057] like Figure 4As shown, the planning layer includes four states: idle, stopped, visual processing, and task. When the user provides no input to the robot, the system is in the idle state, where the robotic arm and sensors remain stationary to conserve energy and avoid unnecessary movement. When the system switches to the stopped state, it halts the movement of the robotic arm and slider to ensure user safety. If the system detects an anomaly, such as excessive external force on the robotic arm, it will automatically enter the stopped state. In the visual processing state, the system activates the RGBD camera to capture key human body position information, performs segmented photography and image stitching, and identifies functional areas and acupoints. Simultaneously, through visual data, the system can also obtain the normal vector information of the body's curved surfaces, providing a basis for the accurate execution of subsequent tasks. The task state includes various specific massage tasks, such as Bian stone massage, cupping, electrical stimulation, and Tuina (Chinese massage). After entering the task state, the system executes a specific massage task based on the user's selection and the system's planning. Each task has its specific operating procedures and parameter settings. For example, in a Bian stone massage task, the system will adjust the posture of the massage head according to the identified acupoints and normal vectors, and perform massage operations on the set trajectory.

[0058] The various states described above can be controlled through a user interface and voice module, as well as through an AI-based large model interface, to automate task execution and parameter adjustments. This enables the system to perform complex task scheduling based on real-time user needs or preset plans.

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

[0060] The system comprises several threads: The measurement thread is responsible for real-time reading of the robotic arm's posture and status information, and acquiring force feedback data in six directions from a six-dimensional force sensor. It also calibrates the force feedback data using an end-effector gravity compensation algorithm based on the current massage head type. The robotic arm control thread calculates the control parameters of the robotic arm using a selected control algorithm, commonly including admittance control and force-position hybrid control. Based on these parameters, the thread sends control commands to the underlying controller of the robotic arm to adjust its posture and position. The underlying controller uses a servo position controller to control the joints. The guide rail control thread acquires the guide rail's position information and processes abnormal data (e.g., filtering and anomaly detection). Under normal operating conditions, the guide rail control thread calculates the difference between the current and target positions to generate a smooth movement trajectory and sends the desired position command to the guide rail actuator. The logging thread records system operation information, including posture, force feedback, and trajectory execution status data. This logging is useful for subsequent troubleshooting and system optimization. As a daemon thread, it runs in the background and can be dynamically started and stopped as needed.

[0061] Example 3, based on Example 2, provides a control algorithm for controlling a robotic arm, including force-position hybrid control. Steps S100, S200, and S300 are the specific processes of the force-position hybrid control algorithm. In this example, step S100, determining the desired control force to be applied to the massage head based on the force difference, includes: determining the current moment force difference, the first moment force difference, and the second moment force difference in the force difference, where the first moment is the previous moment of the current moment, and the second moment is the previous moment of the first moment; obtaining the control force already applied to the massage head at the first moment, and determining the desired control force F to be applied to the massage head at the current moment based on the control force, the current moment force difference, the first moment force difference, and the second moment force difference. c t :

[0062]

[0063] In the formula, e t The force difference at the current time t. t-1 is the first moment, e t-1 The force difference is at the first moment, t-2 is the second moment, and e t-2 For the force difference at the second moment, The contact force generated between the human body and the massage head at the current time t. The contact force between the human body and the massage head at the first moment t-1. The contact force generated between the human body and the massage head at the second moment t-2 These are all reference massage forces, which are the pressures the user desires. If the same part of the body is massaged at times t, t-1, and t-2, then... They are equal; if three different parts of the body are massaged at times t, t-1, and t-2, then... They are not equal. K p K i K d All are diagonal matrices of stiffness coefficients.

[0064] In this embodiment, step S200 includes the following specific steps: obtaining the desired speed of the massage head. The diagonal matrix M of the inertia coefficients of the physiotherapy robot; based on the desired control force The desired speed The diagonal matrix M of the inertia coefficients determines the desired acceleration of the massage head.

[0065]

[0066] In the formula, B is the diagonal matrix of damping coefficients.

[0067] This embodiment can also calculate the desired acceleration in the following manner.

[0068]

[0069] Control the massage head to achieve the desired acceleration Moving the massage head ensures that the final desired position is not too far from the current position, thus guaranteeing the smoothness of the massage head and improving the user experience.

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

[0071] Example 4, based on Example 2, provides an admittance control method. The admittance control method is that when the user inputs the required contact force F into the physiotherapy robot... e Based on the calculation, determine the expected acceleration of the massage head. Move to the desired location Only then can 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 matrices of stiffness coefficients, damping coefficients, and inertia coefficients, respectively.

[0074] Attitude error R e :

[0075]

[0076] Let be the expected velocity at time t. Let t be the expected position at time t.

[0077] Example 5, based on Example 2, provides a guide rail control method. Specifically, by controlling the position of the slider on the guide rail, the position X of the massage head can be controlled. end Control.

[0078] X end =f kin (q rail ,θ)

[0079] In the formula, f kin Let q be the forward kinematics function of the guide rail and robotic arm. rail Let θ be the position or angle of the slider on the guide rail, and let θ be the angle of the six rotary joints on the robotic arm.

[0080] When the user inputs the desired pose X into the robot end (X end When including the desired x-coordinate, desired y-coordinate, desired z-coordinate, desired pitch angle (roll), desired yaw angle (pitch), and desired roll angle (yaw), the X-coordinate is used. end =f kin (q rail q can be calculated from θ. rail Given the values ​​of q and θ, move the slider until it reaches q. rail The system controls the six rotary joints on the robotic arm to rotate to angle θ, at which point the massage head will assume the user's desired pose X. end .

[0081] Since the slider carrying the massage head moves along the horizontal axis on the guide rail, therefore, when q is calculated... rail At that time, according to q rail x can be calculated:

[0082] x = f rail (q rail )

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

[0084] via x = f rail (q rail Calculate X end In x, then X end It then becomes X, which only contains five dimensions: y, z, roll, pitch, and yaw. end[5] Through X end[5] Inversely find the value of θ: At this point, the value of θ is calculated, where f robot Let θ be the inverse kinematics function of the robotic arm, controlling the angles of the six rotational joints of the robotic arm.

[0085] When the robotic arm is redundant, θ and q rail The solutions form a set. For different massage tasks, an optimal pose for the robotic arm is calculated (i.e., the pose closest to the joint space of the previous pose). The optimal pose is usually the one closest to the joint space of the previous pose, which can reduce the load on the robotic arm joints to a certain extent and extend the service life of the robotic arm. Then, an optimization problem is established to minimize the difference between the robotic arm pose and the optimal pose. The control variables of the guide rail joints are obtained from the inverse solution set, where Θ is the range of joint space that the robot can reach.

[0086] min θ |θ-θ des | 2

[0087] stX end =f kin (q rail ,θ)

[0088]

[0089] θ∈Θ

[0090] Therefore, for any joint end-effector pose within the feasible region, the desired 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 track control thread, and then the final track joint tracking is achieved through simple PID control.

[0091] Example 5, based on Example 2, decomposes the physiotherapy task input to the robot into several sub-tasks (sub-tasks are sequences); the massage head is controlled to independently complete the sub-tasks. Sub-tasks include pressing, linear movement, circular motion, kneading movements, and cupping. These sub-tasks correspond to different massage techniques. By decomposing the complex massage process into these basic movements, the system can more flexibly and precisely control the movement and force of the robotic arm, thereby meeting different massage needs. This decomposition method not only helps improve the stability and controllability of task execution but also allows for rapid adjustment and combination of specific massage techniques according to the user's personalized requirements, enhancing the user experience.

[0092] The execution of each subtask includes, for example: Figure 6 The steps shown involve first determining the target position or trajectory, including the target position and orientation of the massage head, and the target position of the slider on the guide rail, and then generating 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:

[0095] In the formula, R is the radius, and θ(t) is the change of angle with time.

[0096] The control algorithm is invoked to jointly control the movement of the slider on the guide rail and the movement of the robotic arm, so as to control the massage head to move according to the trajectory calculated above.

[0097] During the movement of the massage head, the movement of the robotic arm and slider on the guide rail is adjusted in real time based on 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 error occurs during the execution of a subtask, the robot's display screen will display an error message. If no error occurs, but the user inputs a command to stop the massage into the robot via voice, the robot will enter a stop state.

[0099] Once all the sub-tasks involved in the entire massage task have been completed, the robotic arm and guide rail return to their initial state or prepare to execute the next sub-task.

[0100] In summary, this invention significantly enhances the adaptability of the operating space through the combined control of a sliding guide rail and a six-axis robotic arm. Simultaneously, the full-process force control strategy, combined with real-time feedback from a six-dimensional force sensor, ensures safety and comfort during the massage process. Intelligent user interaction design improves the user experience, allowing users to customize massage operations according to their needs. Redundant control design enables the system to have higher accuracy and stability during task execution, and can flexibly adjust its posture in complex environments. Furthermore, the system supports multiple massage tasks, possessing efficient task adaptability and execution capabilities, meeting personalized and refined massage needs. Therefore, this invention represents a significant improvement over existing technologies in terms of safety, flexibility, and user experience.

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

[0102] The desired 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 desired control force to be applied to the massage head based on the force difference, wherein the direction of the control force is the direction of the contact force.

[0103] The desired acceleration calculation module 02 is used to determine the desired acceleration of the massage head based on the desired control force.

[0104] The motion control module 03 is used to control the movement of the robotic arm of the physiotherapy robot to control the massage head to move with the desired acceleration in the direction that causes the contact force to tend toward the reference massage force.

[0105] Based on the above embodiments, the present invention also provides a terminal device, the principle block diagram of which can be as follows: Figure 9 As shown, the terminal device includes a processor, memory, network interface, and display screen connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for controlling a physiotherapy robot. The display screen can be an LCD screen or an e-ink screen.

[0106] Those skilled in the art will understand that Figure 9The schematic diagram shown is only a partial structural diagram related to the present invention and does not constitute a limitation on the terminal device to which the present invention is applied. The specific terminal device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0107] In one embodiment, a terminal device is provided, comprising 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, it implements the following operation instructions:

[0108] The contact force between the human body and the massage head is obtained, the force difference between the contact force and the reference massage force is determined, and the desired control force to be applied to the massage head is determined based on the force difference, wherein the direction of the control force is the direction of the contact force.

[0109] Based on the desired control force, the desired acceleration of the massage head is determined;

[0110] By controlling the movement of the robotic arm of the physiotherapy robot, the massage head is controlled to move with the desired acceleration in the direction that causes the contact force to tend toward the reference massage force.

[0111] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a physiotherapy robot, characterized in that, include: The contact force between the human body and the massage head is obtained, the force difference between the contact force and the reference massage force is determined, and the desired control force to be applied to the massage head is determined based on the force difference, wherein the direction of the control force is the direction of the contact force. Determining the desired acceleration of the massage head based on the desired control force includes: obtaining the desired velocity of the massage head and the diagonal matrix of the inertia coefficients of the physiotherapy robot; and determining the desired acceleration of the massage head based on the desired control force, the desired velocity, and the diagonal matrix of the inertia coefficients. By controlling the movement of the robotic arm of the physiotherapy robot, the massage head is controlled to move with the desired acceleration in the direction that causes the contact force to tend toward the reference massage force; Determining the desired control force to be applied to the massage head based on 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 in the force difference, where 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 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, the desired control force to be applied to the massage head at the current moment is determined. : The force difference at the current time t. Due to the difference in force at the first moment, For the force difference at the second moment, The contact force generated between the human body and the massage head at the first moment t-1. The contact force generated between the human body and the massage head at the second moment t-2. , , These are all reference massage forces, which are the pressures the user desires. If the same part of the body is massaged at three times: t, t-1, and t-2, then... , , They are equal; if three different parts of the body are massaged at times t, t-1, and t-2, then... , , They are not equal. , , All are diagonal matrices of stiffness coefficients.

2. The physiotherapy robot control method as described in claim 1, characterized in that, The robotic arm is a six-axis robotic arm, with its top slidably connected to the guide rail of the physiotherapy robot, and the massage head located at the bottom of the robotic arm.

3. The physiotherapy robot control method as described in claim 2, characterized in that, Also includes: Obtain the desired pose of the massage head, wherein the desired pose includes the desired abscissa of the massage head; By applying the inverse kinematics function of the guide rail to the desired horizontal coordinate, the target position of the top of the robotic arm on the guide rail is obtained; Control the top of the robotic arm to move to the target position so that the massage head is located at the desired horizontal coordinate.

4. The physiotherapy robot control method as described in claim 3, characterized in that, The desired pose also includes the desired ordinate, desired vertical coordinate, desired pitch angle, desired yaw angle, and desired roll angle of the massage head, and further includes: By applying the inverse kinematics function of the robotic arm to the desired ordinate, desired vertical coordinate, desired pitch angle, desired yaw angle, and desired roll angle, the target angles of the six rotational joints of the six-axis robotic arm are obtained. The angles of the six rotational joints of the six-axis robotic arm are controlled to present the target angle, so that the pose of the massage head is the desired pose.

5. The physiotherapy robot control method as described in claim 1, characterized in that, Also includes: The physiotherapy task input to the physiotherapy robot is obtained, and the physiotherapy task is decomposed into several sub-tasks; The massage head is controlled to independently complete the sub-task.

6. A control device for a physiotherapy robot, characterized in that, The device comprises the following components: The desired control force calculation module 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 desired control force to be applied to the massage head based on the force difference, wherein the direction of the control force is the direction of the contact force. The desired acceleration calculation module is used to determine the desired acceleration of the massage head based on the desired control force, including: obtaining the desired velocity of the massage head and the diagonal matrix of the inertia coefficient of the physiotherapy robot; and determining the desired acceleration of the massage head based on the desired control force, the desired velocity, and the diagonal matrix of the inertia coefficient. A motion control module is used to control the movement of the robotic arm of the physiotherapy robot to control the massage head to move with the desired acceleration in the direction that causes the contact force to tend toward the reference massage force; Determining the desired control force to be applied to the massage head based on 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 in the force difference, where 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 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, the desired control force to be applied to the massage head at the current moment is determined. : The force difference at the current time t. Due to the difference in force at the first moment, For the force difference at the second moment, The contact force generated between the human body and the massage head at the first moment t-1. The contact force generated between the human body and the massage head at the second moment t-2. , , These are all reference massage forces, which are the pressures the user desires. If the same part of the body is massaged at three times: t, t-1, and t-2, then... , , They are equal; if three different parts of the body are massaged at times t, t-1, and t-2, then... , , They are not equal. , , All are diagonal matrices of stiffness coefficients.

7. 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, it implements the steps of the physiotherapy robot control method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a physiotherapy robot control program, which, when executed by a processor, implements the steps of the physiotherapy robot control method as described in any one of claims 1-5.

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