A dynamic interactive system, interactive execution mechanism and intelligent device

Abstract

The present invention discloses a dynamic interactive system, an interactive execution mechanism and an intelligent device, which belongs to the field of dynamic interactive technology, and includes: receiving user operation requirements, collecting data through the basic platform pressure sensor to generate a matrix, analyzing the pressure stability through a time window, processing the data only during the stable period to extract the contact body contour, and synchronously judging the placement status and generating a calibration signal. The extracted contour is matched with the standard contour feature points, and the geometric relationship and elastic transformation are combined to generate precise operation point coordinates and control instructions. The execution link drives the execution unit to operate the contact body, and the adjustable unit dynamically compensates for the low pressure area and support area to ensure uniform force and stability. The interactive feedback module guides the adjustment and visualizes the status through a multimodal interface. The solution improves recognition accuracy and operation stability through dynamic pressure analysis, intelligent contour verification, etc., and is suitable for medical, industrial and other scenarios, providing efficient and intelligent solutions.

Description

Technical Field

[0001] The present invention relates to the field of dynamic interaction technology, and more specifically to a dynamic interaction system, an interaction execution mechanism and an intelligent device. Background Art

[0002] In the fields of industrial manufacturing, medical assistance, smart home, etc., it is often necessary to position, fix and orient contact objects such as workpieces and objects to be processed placed on the operating platform. In the existing technology, it relies on a fixed coordinate system or a preset model, requiring the contact object to be placed at a specific angle. It is difficult to adapt to the differences in the size and shape of the contact objects in practice and the randomness of user placement, resulting in large initial positioning deviations, cumbersome manual calibration, and insufficient operational efficiency and adaptability. In terms of contact body fixation, it mostly relies on rigid clamps or fixed groove mechanical limits, lacks dynamic adaptation to the contact body contour and force state, and is prone to deformation and damage to the contact body due to uneven pressure. For example, it may leave indentations on the surface of a precision workpiece or cause wrinkles on a flexible object. At the same time, for contact objects of different weights and hardness, the support force cannot be dynamically adjusted according to the real-time force conditions. There is a risk of insufficient fixation causing displacement or pressure overload damaging the contact body. The execution of operation parameters needs to be manually preset or relies on a fixed trajectory. When the contact body changes shape or shifts in position, it is difficult to automatically correct the target action point. There are problems such as action point deviation and improper force, and the operation accuracy is limited in complex scenarios. In human-computer interaction, the system provides simple feedback on the state of the contact object, requiring users to adjust placement or parameters through trial and error based on experience. This lacks intelligent guidance and personalized adaptation capabilities. Existing technologies lack dynamic positioning, flexible fixation, precise operation, and interactive adaptation, resulting in operational efficiency and reliability requirements in complex scenarios. To overcome these limitations, the present invention proposes a dynamic interaction system, interactive actuator, and intelligent device. Summary of the Invention

[0003] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide a dynamic interaction system, an interactive actuator and an intelligent device. To address the positioning deviation, uneven support and inaccurate operation problems of the contact body during the dynamic interaction process, through dynamic analysis of the pressure matrix, multi-level contour verification, elastic coordinate correction and differentiated support control, precise positioning, stable support and adaptive operation of the contact body can be achieved, thereby improving the reliability and interaction accuracy of the system in multiple scenarios such as medical rehabilitation and industrial automation.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A dynamic interactive system, comprising:

[0006] Receive operation requirement parameters and contact body type identification input by the user;

[0007] The pressure distribution data of the contact surface between the contact body and the base platform is collected to generate a pressure matrix. The changes in the pressure matrix within the time window are used to determine whether the pressure matrix is ​​in a stable period. If it is in a stable period, the pressure matrix is ​​fused, feature enhanced, and binarized to divide, filter, and merge connected areas. The contour is extracted based on the foreground pixels in the connected area and the similarity with the standard contour is calculated for contour verification to output the contact body contour. At the same time, the contact body placement status is determined through multi-level thresholds and a position calibration signal is generated.

[0008] Receive position calibration signals and output operation guidance and abnormal prompts to the user;

[0009] By extracting the contour feature points of the contact body contour and the standard contour, the contact body contour and the standard contour are matched. Based on the standard contour operating point information, the candidate coordinates of the contact body contour operating point are derived through trigonometric function relationships and corrected to obtain the operating point coordinates of the contact body contour. Based on the operating point coordinates and the contact body contour, the execution unit control instructions and the adjustable unit control instructions are generated.

[0010] Receive and analyze the execution unit control instructions and the adjustable unit control instructions, drive the execution unit and the adjustable unit, and realize the operation and support fixation of the contact body.

[0011] Specifically, the specific steps of contact body contour extraction include:

[0012] The target pressure matrix is ​​obtained by weighted averaging the pressure matrices in the stable period. After noise reduction and feature enhancement, each pixel in the target pressure matrix is ​​divided into foreground and background using an adaptive threshold, and the target pressure matrix is ​​converted into a binary image.

[0013] Configure the connected domain threshold, traverse the foreground pixels in the binary image, divide the connected regions and extract the connected region features;

[0014] Determine whether the number of connected regions is greater than the connected domain threshold. If so, filter out valid connected regions and merge them to make the number of connected regions equal to the connected domain threshold. Otherwise, determine whether the number of connected regions is less than the connected domain threshold. If so, generate a contact placement signal. Otherwise, perform contour extraction on the foreground pixels in each connected region.

[0015] The specific steps of screening effective connected areas and merging connected areas include:

[0016] Calculate the distance from the centroid of each connected region to the centroids of the remaining connected regions, and screen the valid connected regions based on the area of ​​the connected regions; merge the connected regions based on the overlapping area of ​​the circumscribed rectangles of the valid connected regions, the distance between the centroids, and the topological relationship until the number of connected regions is equal to the connected domain threshold.

[0017] Specifically, the specific steps of contact body contour extraction also include:

[0018] Configure a similarity threshold, smooth the contours extracted from the connected regions, and calculate the similarity between the contours in each connected region and the standard contour. If the similarity is greater than the similarity threshold, the contour verification is successful and marked as a valid contour. The contact body contours of the connected regions that have passed the contour verification are output.

[0019] Otherwise, the contour verification fails, the contour correction operation is started, the pressure distribution data is re-collected, the dynamic contour is extracted, and then the contour verification is performed and the number of contour verifications is counted; the verification threshold is configured, and if the number of contour verifications is greater than the verification threshold, a contour abnormality signal is generated.

[0020] Specifically, the specific steps of obtaining the operating point coordinates of the contact body contour include:

[0021] Establish the local coordinate system of the contact body contour;

[0022] Extract the contour feature points of the contact body contour, and obtain the contact body operation points, contour feature points, and supplementary attribute information of each operation point under the standard contour;

[0023] The contact body contour is aligned with the standard contour, and the contour feature points of the standard contour and the contact body contour are preliminarily matched based on the principle of closest distance or the principle of similarity of contour feature points.

[0024] Specifically, the specific steps of obtaining the operating point coordinates of the contact body contour also include:

[0025] According to the relative distance and angle relationship between the operating point and the contour feature point in the standard contour, as well as the coordinates of the contour feature point preliminarily matched in the contact body contour, the candidate coordinates of the operating point of the contact body contour are derived through the trigonometric function relationship;

[0026] The relative distance difference and angle difference between the matching feature points in the contact body contour and the standard contour, as well as the shape descriptor difference between the area where the candidate coordinates of the operation point are located and the area corresponding to the operation point in the standard contour are calculated. The candidate coordinates of the operation point are corrected through the elastic transformation model; the coordinates of the operation point of each contour of the contact body are output.

[0027] Specifically, the steps of generating the execution unit control instruction include:

[0028] Receive a target operation point set, a target operation point execution priority, operation requirement parameters, and an operation body type identifier;

[0029] Convert the target operating point coordinates from the contact body local coordinate system to the global coordinate system to obtain the current position and motion range of the execution unit;

[0030] Calculate the distance between each target operating point and each execution unit, obtain the target operating points within the movement range of the execution unit, and allocate the target operating points according to the priority and load balancing principles to form a subset of the target operating points of the execution unit;

[0031] For each target operation point subset of the execution unit, a path optimization algorithm is used to plan the motion trajectory including the path point coordinates, moving speed, acceleration, and dwell time, and the execution unit control instructions are output.

[0032] Specifically, the steps of generating the adjustable unit control instruction include:

[0033] Obtain the pressure matrix and effective contact body contour during the stable period, construct the three-dimensional surface equation of the contact surface between the contact body and the base platform, and extract the height extreme value of the three-dimensional surface;

[0034] Calculate the extreme values ​​and mean values ​​of the pressure matrix, configure the compensation coefficient to generate a low-pressure threshold, and then determine whether the pressure value within the contact body contour is less than the threshold to divide the low-pressure weak area;

[0035] The three-dimensional surface equation is mapped to the adjustable unit grid of the base platform support structure, and the corresponding relationship between the adjustable unit coordinates and the surface height is established. The adjustable units in the low-pressure weak area are selected as compensating adjustable units, and the adjustable units in the non-contact body contour area are selected as fixed adjustable units.

[0036] For the compensating adjustable unit, the compensation height is calculated based on the mean value of the pressure matrix and the pressure value of the adjustable unit; for the fixed adjustable unit, the compensation height is set to the height extreme value of the three-dimensional surface; based on the compensation height, the adjustable unit control instruction is generated, including the compensation height, adjustment speed and adjustment method.

[0037] Specifically, the steps for determining whether the pressure matrix is ​​in a stable period include:

[0038] Set the collection interval, collect the pressure matrix, and calculate the change rate of the element mean of the pressure matrix and the mean of the adjacent pressure matrix;

[0039] Set a time window and calculate the difference matrix of corresponding matrix elements for adjacent pressure matrices within the time window;

[0040] The mean change rate threshold and the difference norm threshold are set. When the change rate of the mean values ​​of adjacent pressure matrices within the time window is less than the mean change rate threshold and the difference matrix norm is less than the difference norm threshold, the pressure matrix is ​​judged to be in a stable period, and the contact body contour extraction operation is triggered.

[0041] An interactive actuator comprises a multimodal drive assembly, an execution unit assembly, an adjustable support assembly and a sensor feedback assembly;

[0042] The multimodal drive component receives and interprets the execution unit control instructions and adjustable unit control instructions from the central control module in real time, converts them into corresponding hardware drive signals through the drive adaptation layer, dynamically allocates tasks based on task priority and load status, and ensures multi-unit coordinated synchronization;

[0043] The actuator components, combined with built-in sensor feedback, precisely adjust position, speed, and output force through closed-loop control algorithms, monitor safety limit parameters in real time, and provide emergency stops and feedback signals in the event of an abnormality.

[0044] The adjustable support assembly is based on the contact surface equation and pressure distribution data. It dynamically compensates the height of the low-pressure weak area through gridded adjustable units, and synchronizes the support and execution unit movements through a collaborative control mechanism.

[0045] The sensor feedback component collects status data of the contact body and actuator in real time, builds a control closed loop, monitors contact pressure, motion trajectory deviation and contact force, and configures safety sensors to detect abnormal conditions and trigger hardware-level emergency stops.

[0046] An intelligent device comprising an intelligent carrying platform, an intelligent decision-making center, an operation support system and a multimodal human-machine interface;

[0047] The intelligent load-bearing platform has an embedded pressure sensor array on its surface. It collects pressure distribution data to generate a pressure matrix. The stable period is determined by analyzing the mean, mean change rate, and difference matrix norm over a time window. After pre-processing the stable period data, the connected region is divided, the contact body contour is extracted, and a position calibration signal is generated.

[0048] The intelligent decision-making center aligns the contact body contour with the standard contour, matches feature points and calculates similarity, establishes a local coordinate system to derive the target operation point coordinates, and generates execution unit control instructions containing the target operation point coordinates and adjustable unit control instructions containing the adjustable unit height;

[0049] The operation support system integrates an execution unit and an adjustable unit. The execution unit adjusts the position and functional parameters based on instructions, and the adjustable unit dynamically compensates the height of the low-pressure area to achieve synchronization between support and operation.

[0050] The multimodal human-machine interface receives status signals and presents them visually, provides multimodal guidance based on position calibration signals, and receives user input parameters and formats them.

[0051] Beneficial effects of the present invention:

[0052] The present invention effectively solves problems such as inaccurate contour extraction, operational positioning deviation, uneven support, and low efficiency of multi-unit collaboration in complex contact scenarios through multi-dimensional data processing and intelligent control. The stability of the pressure matrix is ​​analyzed through a time window to ensure that contours are extracted only when the contact is stable, avoiding misjudgment caused by motion interference and providing a reliable benchmark for subsequent operations. Multi-level conditional screening and merging of connected areas are used to effectively process complex contours of human body surfaces or irregular workpieces, eliminate noise areas and retain key features, and improve contour integrity. Similarity verification and dynamic correction mechanisms are introduced to resolve contour deviations caused by noise or displacement, ensuring contour validity through multiple iterations. The coordinates of the operating points are corrected based on the geometric relationship of feature points and shape descriptors to adapt to individual differences in contact bodies and achieve precise positioning. The pressure distribution is divided into regions and support units are differentially controlled to dynamically compensate for gaps in low-pressure areas and fixed supports to avoid contact failure or displacement and ensure uniform force on the contact bodies. The system significantly enhances its reliability and adaptability in medical rehabilitation, industrial automation, and other fields, providing full-process intelligent support for precise operation and stable support of contact bodies. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a structural diagram of a dynamic interactive system of the present invention;

[0054] Figure 2 A flowchart of the specific steps of the present invention for determining whether the pressure matrix is ​​in a stable period;

[0055] Figure 3 A flowchart of the specific steps of contact body contour extraction of the present invention;

[0056] Figure 4 A flowchart of the specific steps for calculating the coordinates of the operating point according to the present invention;

[0057] Figure 5 A flowchart of the specific steps of generating execution unit control instructions for the present invention;

[0058] Figure 6 The flowchart is a flow chart of the specific steps of generating adjustable unit control instructions according to the present invention. DETAILED DESCRIPTION

[0059] Example 1

[0060] See also Figure 1,This embodiment introduces a dynamic interactive system, including a contact perception module, a central control module, an intelligent execution module and an interactive feedback module;

[0061] The contact sensing module generates a pressure matrix from real-time pressure distribution data and determines whether the pressure matrix is ​​stable. If so, it triggers the contact body contour extraction operation. This involves preprocessing the pressure matrix, including noise reduction and feature enhancement, to obtain a preprocessed pressure matrix. This allows the contact body contour to be identified, providing benchmark data for subsequent target point positioning. Furthermore, the contact body's placement is determined using multi-level thresholds. If the effective contact area or center of mass position does not meet preset standards, a position calibration signal is generated and transmitted to the interactive feedback module.

[0062] In this embodiment, pressure sensors are embedded on the surface of a base platform to collect real-time pressure distribution data on contact objects and generate a two-dimensional pressure matrix. In this invention, a base platform refers to a carrier structure used to support contact objects and integrate sensing functions. Its forms include, but are not limited to, flat plates, curved support platforms, and deformable contact layers. It is suitable for use in a variety of fields, such as medical rehabilitation, industrial automation, and smart homes. The core function of the base platform is to achieve real-time sensing of the pressure distribution on the contact surface between the contact object and the base platform through built-in pressure sensors, providing basic data support for subsequent positioning, fixation, and manipulation of the contact object. A contact object refers to any object that needs to be positioned, fixed, or manipulated, including but not limited to human parts such as feet, hands, limbs, industrial workpieces, medical instruments, and materials to be processed. When a contact object is placed on the surface of the base platform, the pressure sensor detects the pressure distribution on the contact surface and obtains a two-dimensional pressure matrix, which provides raw data input to the central control module, thereby realizing contact object morphology recognition, target point calculation, and operation strategy generation.

[0063] See also Figure 2 Preferably, the specific steps of determining whether the pressure matrix is ​​in a stable period include:

[0064] Set the acquisition interval to continuously acquire the pressure distribution matrix and generate a series of pressure matrices; for the acquired time series: , then the corresponding pressure matrix is , is the length of the time series, and the time window T is set to analyze the changes in the pressure matrix. time points , the pressure matrix at the current time point and within the previous T time period is selected for analysis. Analyzing the pressure matrix at a single moment alone cannot determine whether it is stable; it is necessary to observe the changing trend of the pressure matrix over a period of time. By analyzing within a time window, we can more comprehensively understand the dynamic changes of the pressure matrix and more accurately determine whether it is stable.

[0065] For each pressure matrix, the mean of all its elements is calculated to reflect the overall pressure level of the pressure matrix at that moment. The mean comprehensively reflects the pressure conditions of each element in the pressure matrix and reflects the overall pressure level when the contact body contacts the base platform. By determining the overall pressure level, we can preliminarily determine whether the contact body and the base platform are in good contact. If the mean is too low, it may indicate that the contact area between the contact body and the base platform is small or the contact is loose; if the mean is too high, it may indicate that the contact body is exerting excessive pressure on the base platform.

[0066] And within the time window, calculate the rate of change of the mean of adjacent pressure matrices, that is:

[0067]

[0068] in, It is time points The rate of change of the mean value of the upper pressure matrix, It is The mean value of the pressure matrix at each time point. When the mean value of the pressure matrix is ​​0, it indicates that there is no contact between the contact body and the base platform. The rate of change of the mean value of the pressure matrix is ​​set to an infinite number. The rate of change of the mean value of the pressure matrix reflects the relative change of the movement of the contact body on the base platform and the contact depth, so as to further reflect whether the contact body is stably placed on the base platform and confirm whether to perform operations such as contour extraction.

[0069] For adjacent pressure matrices within the time window, the difference matrix of the corresponding matrix elements is calculated, and the size of the difference matrix is ​​measured by the matrix norm to reflect the overall change degree of the local elements of the adjacent pressure matrices and the contact depth of the contact body on the foundation platform. The matrix norm includes: Frobenius norm, L1 norm, etc.

[0070] The mean rate of change threshold and the difference norm threshold are set to determine whether the movement and contact depth of the contact body on the base platform are relatively stable. These thresholds are determined based on actual application scenarios and experience. For example, for applications with high stability requirements, the mean rate of change threshold and the difference norm threshold can be set lower; for applications with lower stability requirements, the thresholds can be appropriately relaxed. When the mean change rate of adjacent pressure matrices within the time window is less than the mean rate of change threshold and the difference matrix norm is less than the difference norm threshold, the pressure matrix is ​​considered stable, triggering the contact body contour extraction operation. When both the mean rate of change and the difference matrix norm are small, the position and contact depth of the contact body on the base platform are relatively stable. In this case, operations such as contact body contour extraction can produce more accurate results. If the pressure matrix is ​​unstable, the extracted contour may be affected by the movement of the contact body, resulting in inaccurate contours. If the pressure matrix is ​​not determined to be stable, a position stability signal is generated and transmitted to the interactive feedback module to assist the user in making quick adjustments.

[0071] See also Figure 3 Preferably, the specific steps of contact body contour extraction include:

[0072] When the pressure matrix is ​​in the stable period, the pressure matrix within the time window is obtained. Under the stable state, the relative position and contact situation between the contact body and the basic platform are relatively fixed. At this time, the pressure matrix can accurately reflect the actual pressure distribution of the contact body, laying the foundation for the subsequent accurate contour extraction.

[0073] The pressure matrices within the time window are fused to obtain the target pressure matrix. A weighted average approach can be used to assign different weights to each pressure matrix based on the order in which they were collected. Matrices closer to the current time have higher weights. This allows for comprehensive consideration of pressure changes within the time window, reducing errors caused by transient fluctuations and making the subsequently extracted contours more stable and accurate.

[0074] Data preprocessing of the target pressure matrix includes noise reduction and feature enhancement. Noise reduction refers to the use of filtering algorithms such as median filtering to remove pulse interference such as salt and pepper noise in the target pressure matrix. Feature enhancement refers to the use of edge detection algorithms to refine the edges of the target pressure matrix, highlighting areas with obvious pressure changes in the target pressure matrix, and providing key information for subsequent contour recognition.

[0075] The preprocessed target pressure matrix is ​​converted into a binary image. That is, by adopting an adaptive threshold, each pixel in the target pressure matrix is ​​divided into two categories: foreground and background. In order to maximize the inter-class variance of the foreground and background, a classification threshold is set. Pixels with pressure values ​​greater than the classification threshold are marked as foreground, representing the contact body area, and pixels with pressure values ​​less than or equal to the classification threshold are marked as background. The binarization processing can simplify the complex pressure distribution into clear contact body and non-contact body areas, providing a clear data basis for subsequent contour extraction.

[0076] Configure a connectivity threshold to measure the number of standard contact areas between the contact body and the base platform. Traverse the foreground pixels in the binary image, divide the connected regions, and mark the interconnected pixel regions as the same connected region. Extract the basic features of each connected region, including area, centroid coordinates, and circumscribed rectangle.

[0077] If the number of connected regions is greater than the connected domain threshold, the valid connected regions are screened and connected regions are merged so that the number of connected regions is equal to the connected domain threshold, that is:

[0078] Calculate the distance from the centroid of each connected region to the centroids of the remaining connected regions, and screen the valid connected regions based on the area of ​​the connected regions. That is, by configuring the area threshold and the centroid distance threshold, remove the connected regions whose area is smaller than the area threshold and whose centroid distance to the centroids of the remaining connected regions is smaller than the centroid distance threshold.

[0079] For the effective connected areas, the connected areas are merged based on the overlapping area of ​​the circumscribed rectangles of the effective connected areas, the distance between the centroids, and the topological relationship until the number of connected areas is equal to the connected domain threshold;

[0080] Connected regions are merged based on the overlapping area of ​​the bounding rectangles. This means that if the bounding rectangles of two valid connected regions overlap, the two connected regions are merged to form a new connected region and its basic features are extracted. In addition to the overlap of the bounding rectangles, the proportion of the overlapping area can also be considered. When the ratio of the overlapping area to the area of ​​the smaller bounding rectangle is greater than a preset ratio threshold, the two connected regions are merged.

[0081] Connected region merging based on centroid distance involves calculating the distances between the centroids of all valid connected regions and constructing a distance matrix. Using a clustering algorithm, the distance between centroids is used as a metric to gradually merge connected regions that are close in distance.

[0082] Merging connected regions based on topological relationships involves determining the topological relationships between connected regions, including whether they exist in a containment relationship or an adjacency relationship. For connected regions with a containment relationship, smaller regions are merged into larger regions. Adjacent connected regions with complementary shapes are also merged.

[0083] If the number of connected areas is less than the connected domain threshold, a contact body placement signal is generated and transmitted to the interactive feedback module; this guides the user to adjust the placement status, reducing manual trial and error costs and improving operational efficiency.

[0084] When the number of connected regions is equal to the connected domain threshold, contour extraction is performed on the foreground pixels in each connected region. A boundary tracking algorithm, such as the Moore neighborhood tracking algorithm, can be used to extract the boundary points of the connected region to form a closed contour.

[0085] After configuring a similarity threshold and smoothing the contours extracted from the connected regions, contour verification is performed based on prior knowledge. This involves calculating the similarity of the contour within each connected region with a standard contour in a priori database. If the similarity exceeds the threshold, contour verification is successful, the contour is marked as valid, and the contact body contour for the connected region that passes contour verification is output. This indicates that the extracted contact body contour conforms to the basic morphological features of the corresponding object in the prior knowledge, providing a reliable basis for subsequent pressure center calculation, key feature point extraction, and local coordinate system establishment. For example, in a medical rehabilitation scenario, if the foot contour meets the required similarity with the standard foot contour in the priori database, accurate foot massage planning can be used. The priori database stores standard contact body contours and related prior knowledge. Its core function is to provide a benchmark for contact body contour verification, ensuring that the extracted contour conforms to the basic morphological features of the target object. This database pre-stores standard contact body contour data, contour feature point coordinates, geometric attributes, and application-specific parameters, forming a standardized contour verification benchmark library.

[0086] Otherwise, the contour verification fails, and it is determined that there is a deviation in the currently extracted contour. The contour correction operation is initiated, the pressure distribution data is re-collected, the dynamic contour is extracted, and then the contour verification is performed. The number of contour verifications is counted. A verification threshold is configured. If the number of contour verifications exceeds the verification threshold, a contour abnormality signal is generated and transmitted to the interactive feedback module. The user is guided to troubleshoot the problem to avoid operational failure or safety risks caused by invalid contours.

[0087] The central control module deeply processes the contact body contour output by the contact perception module, matches it to a standard contour, and dynamically calculates the coordinates of the operating points based on a preset rule base. For different contact body types, a strategy generation algorithm matches the corresponding target operating points and generates control instructions for the execution unit and the adjustable unit. For the contact body being a foot, the left and right foot contours are processed separately to match the standard contour. The coordinates of the corresponding acupoints on each foot contour are then determined to match the target acupoints to be operated. The motion trajectory for the target acupoints is generated, and control instructions for supporting the foot are generated based on the foot's position.

[0088] See also Figure 4Preferably, the specific steps of calculating the coordinates of the operating point include:

[0089] The centroid of each contour of the contact body is used as the origin of the coordinate system, the long side direction of the external matrix of the contour is selected as the positive direction of the x-axis of the coordinate system, and the local coordinate system of each contour of the contact body is established based on the right-hand coordinate system rule;

[0090] Contour feature points are extracted for each contour of the contact body, including the use of curvature analysis to extract contour feature points at curvature mutation points, and the Harris corner detection algorithm is used to supplement the contour feature points of key corner points in the contour; for the sole contour, the curvature analysis method can be used to extract curvature mutation points such as the toes and metatarsal protrusions as feature points. These parts show obvious shape changes on the sole contour, and the Harris corner detection algorithm can be used to supplement key corner points such as the ankle.

[0091] The contact body operation points and contour feature points under the standard contour are obtained from the prior database, as well as supplementary attribute information of each operation point, including the relative distance and angle between the operation point and the contour feature point, and the shape descriptor of the local area of ​​the standard contour where the operation point is located, including roundness and rectangularity; for example, when the contact body is a foot, the acupoints under the standard sole contour, i.e., the operation points, such as the toe end point, metatarsal head, ankle protrusion and other contour feature points are obtained from the prior database of foot acupoints and contour features.

[0092] The contact body contour is aligned with the standard contour through translation, rotation and scaling operations. First, the center of mass of the contact body contour is translated until it coincides with the center of mass of the standard contour. Then, based on the proportional relationship between the long side lengths of the circumscribed matrix of the contact body contour and the standard contour, the standard contour is scaled so that the two dimensions are in the same metric space.

[0093] Based on the principle of closest distance or the principle of similarity of contour feature points, preliminary matching is performed on the contour feature points of the standard contour and the contact body contour to establish a preliminary correspondence. For example, the preliminary matching using the principle of closest distance can be performed by calculating the Euclidean distance between each contour feature point detected on the contact body contour and the contour feature point of the standard contour. After traversing all contour feature points, the point with the smallest distance is found, and a preliminary correspondence is established between the contact body contour point and the point with the closest distance in the standard contour. If there are contour feature points with the same Euclidean distance, the contour feature point similarity principle is continued to be used for matching.

[0094] The principle of similarity for contour feature points involves first normalizing the standard and contact body contours to unify their size and orientation. Next, the local geometric descriptor for each contour feature point is calculated. For each feature point on the contact body contour, a point with a similar geometric descriptor is found in the standard contour as a corresponding point. For example, if the contact body is a foot, the local curvature and tangent direction of a corner point on the contact body contour have the highest similarity to the geometric descriptor of a feature point at the ankle in the standard contour. A preliminary correspondence is then established between the two.

[0095] According to the relative distance and angle relationship between the operating point and the contour feature point in the standard contour, as well as the coordinates of the contour feature point preliminarily matched in the contact body contour, the candidate coordinates of the operating point of the contact body contour are derived through the trigonometric function relationship. For example, if the operating point in the standard contour is and contour feature points The distance is , the angle is , the coordinates of the matching contour feature points in the contact body contour are , then the candidate coordinates of the operating point Available through , Calculated.

[0096] Calculate the relative distance difference and angle difference between the contact body contour and the matching feature points in the standard contour, as well as the shape descriptor difference between the area where the operation point candidate coordinates are located and the area corresponding to the operation point in the standard contour, including circularity difference and rectangularity difference, and correct the operation point candidate coordinates through the elastic transformation model. For example, the distance correction coefficient, angle correction coefficient, and shape correction coefficient can be set, and the coordinate correction amount can be calculated through the elastic transformation model to adjust the candidate coordinates; after correcting the operation point candidate coordinates, output the operation point coordinates of each contour of the contact body; when the contact body is a foot, output the precise coordinates of each acupuncture point on the sole of the foot in the established local coordinate system of the sole of the foot, so as to provide accurate data support for subsequent operations such as positioning the massage head of a foot massage device and determining the training target of a foot rehabilitation training device.

[0097] See also Figure 5 Preferably, the specific steps of generating the execution unit control instruction include:

[0098] Receive the target operation point set and the target operation point execution priority specified by the user from the interactive feedback module, and obtain the remaining operation requirement parameters and the operation body type identifier. For example, if the contact body is a foot, the target operation point is an operation acupoint located according to the user's requirements. The operation requirement parameters include massage acupoints, massage intensity level, massage mode selection, etc. The operation body type identifier is the information for distinguishing between left and right feet;

[0099] The target operating point coordinates are converted from the local coordinate system of the contact body to the global coordinate system to ensure the accurate positioning of the execution unit, obtain the position information of the execution unit, and divide the target operating point subsets of each execution unit according to the motion range of the execution unit, namely:

[0100] For each target operation point, calculate its spatial distance from the current position of each execution unit. Specifically, the Euclidean distance formula in three-dimensional space is used to calculate the distance between the target operation point coordinates and the execution unit position coordinates. After the calculation is completed, the distance is compared with the preset motion range of the execution unit. If the distance between the target operation point and the execution unit is less than or equal to the radius of the motion range of the execution unit, the target operation point is deemed to be within the motion range of the execution unit and is marked as reachable; otherwise, it is marked as unreachable, thereby obtaining a list of reachable target operation points for each execution unit.

[0101] In the list of reachable target operation points of each execution unit, find the execution units that match the target operation point in turn, that is, give priority to the target operation point with the highest priority. In the list of reachable target operation points of each execution unit, find the execution unit closest to the target operation point, assign this target operation point to the execution unit, and remove it from the list of reachable target operation points of other execution units to prevent duplicate allocation.

[0102] For the remaining target operating points, if multiple execution units can reach the same target operating point, first calculate the current load value of each execution unit. The load value is calculated through a weighted calculation, taking into account factors such as the number of assigned tasks, the expected execution time, and the historical runtime. Then, the execution unit with the smallest load value is selected for assignment. If there are execution units with the same load value, the unit closer to the target operating point is selected for task assignment. Repeat the above steps until all target operating points have been assigned, and finally generate a target operating point subset containing parameters such as the target operating point coordinates and execution priority for each execution unit.

[0103] For each target operation point subset of each execution unit, a path optimization algorithm is used to plan the execution unit's motion trajectory. At the same time, the path order is adjusted in combination with the execution priority to set the execution unit's motion trajectory parameters, including: path point coordinates, movement speed, acceleration, and dwell time. Based on the operation requirement parameters, the function control parameters and safety limit parameters of the execution unit are generated, and the execution unit control instructions are generated. For example, when the contact body is the foot, the operation requirement parameters include kneading frequency, vibration amplitude, and hot compress temperature, and the safety limit parameters include motion range boundaries and function control parameter thresholds. Functional control parameters are based on operation requirements, execution unit capabilities, and are set for specific operation purposes and object characteristics with reference to industry standards and historical experience. Safety limit parameters determine the motion range boundaries and function control parameter thresholds based on the physical limits of the execution unit, workspace limitations, equipment carrying capacity, and industry safety regulations to ensure operational safety.

[0104] See also Figure 6 Preferably, the specific steps of generating the adjustable unit control instruction include:

[0105] Obtain the pressure matrix and effective contact body contour during the stable period, construct the three-dimensional surface equation of the contact surface between the contact body and the base platform through NURBS surface fitting or triangulation algorithm, and obtain the maximum height of the three-dimensional surface;

[0106] Calculate the extreme values ​​and mean values ​​of the pressure matrix and configure compensation coefficients , whose value range is (0,1), realizes the accurate division of low-pressure weak areas of contact bodies by quantifying the fluctuation degree of pressure matrix, provides data basis for differentiated support control, and generates low-pressure threshold based on compensation coefficient. ,Right now: ,in, is the mean pressure value of the pressure matrix, is the maximum pressure of the pressure matrix, It is the minimum pressure value of the pressure matrix. By judging whether the pressure value within the contact body contour is less than the low pressure threshold, the low-pressure weak area in the contact body contour is divided. The low-pressure weak area needs to be dynamically compensated to avoid contact failure. For example, when the contact body is the foot, the arch suspension area is divided to provide a basis for differentiated support control.

[0107] In order to achieve effective support for the contact body, the three-dimensional surface equation is meshed with the adjustable elements of the foundation platform support structure. A one-to-one correspondence is established between the coordinates of each adjustable element and the surface height corresponding to the surface equation. The adjustable elements in the low-pressure weak area are obtained as compensation adjustable elements.

[0108] For each compensating adjustable unit, its compensation height needs to be calculated to ensure that the contact gap can be effectively filled and the contact stability is improved. The compensation height of each compensating adjustable unit is calculated based on the mean value of the pressure matrix and the pressure value of the compensating adjustable unit, that is: ,in, It is The compensation height of the compensation adjustable unit, is the pressure altitude compensation coefficient, It is The compensation height of each compensation adjustable unit and the pressure height compensation coefficient are accurately calibrated through experiments or simulation analysis based on factors such as the material, elastic modulus and characteristics of the supporting structure of the contact body.

[0109] In order to achieve uniform force on the contact body in a non-displacement state, the adjustable unit of the basic platform support structure corresponding to the non-contact body contour is obtained according to the contact body contour as a fixed adjustable unit;

[0110] For each fixed adjustable unit, its compensation height is set to the maximum value of the height of the three-dimensional surface, so that the height of the adjustable unit of the basic platform support structure corresponding to the non-contact body contour is consistent with the maximum height of the contact body, so that the contact body is fixed when performing the unit operation;

[0111] Based on the calculated compensation height for each adjustable unit, corresponding control instructions are generated. These instructions include the compensation height, adjustment speed, and adjustment method. The adjustment speed setting requires a comprehensive consideration of the dynamic characteristics of the contact body and the responsiveness of the support structure. For situations requiring rapid response, the adjustment speed can be increased; for situations requiring higher stability, the adjustment speed should be reduced. The adjustment method can be either continuous or stepped, depending on the support structure's drive method and control accuracy requirements.

[0112] The intelligent execution module is used to receive the execution unit control instructions and adjustable unit control instructions generated by the central control module, and realize the precise control of the execution unit and adjustable unit through the multi-modal drive interface;

[0113] The execution unit control instructions and adjustable unit control instructions are received and parsed in real time through the communication interface. The execution unit control instructions include the global coordinates of the target operating point, motion trajectory parameters, functional control parameters and safety limit parameters. The adjustable unit control instructions cover the target height, adjustment speed and adjustment method of the adjustable unit of the support structure; the built-in drive adaptation layer uses the protocol conversion engine to parse standardized instructions into control signals for the corresponding hardware, and is compatible with the control protocols of different actuators such as servo motors and pneumatic devices.

[0114] In terms of actuator control, based on the target operating point coordinates and motion trajectory parameters, combined with feedback data from the actuator's built-in sensors, a closed-loop control algorithm adjusts position, speed, and functional parameters in real time. For example, if the contact body is a foot, the massage head is controlled to locate the target acupuncture points and perform kneading movements at a preset frequency. At the same time, the actuator position and safety limit parameters are continuously monitored. When motion exceeds the limit or force is abnormal, an emergency stop is immediately triggered and an abnormal signal is fed back. For adjustable unit control, the adjustable unit is driven to adjust in real time according to the calculated compensation height to avoid local overload or contact failure, ensuring that the contact body is evenly stressed without displacement.

[0115] The interactive feedback module is used to receive status signals from the contact perception module and the central control module in real time, and to deliver operation guidance, status information, and abnormal prompts to the user through a multimodal interactive interface. It also supports the user to input operation requirement parameters, forming an interactive closed loop. Specifically:

[0116] A multi-source signal receiving mechanism is constructed to analyze the position calibration signals output by the contact sensing module in real time, including the position stabilization signal generated when the pressure matrix is ​​unstable, the contact body placement signal triggered when the number of connected areas is abnormal, and the contour abnormality signal when the contour verification fails and the number of times exceeds the limit.

[0117] When a position stability signal is received, a high-contrast prompt message is displayed on the touch screen, such as "Your position is not stable, please remain still", and dynamic graphic guidance is superimposed. Taking the medical foot massage scene as an example, the screen simultaneously displays a translucent standard foot contour template, using green to highlight key load-bearing areas such as the heel and sole, and flashing red to mark the current contact body position deviation area, guiding the user to quickly adjust the posture through visual reference to ensure that the pressure distribution enters a stable period.

[0118] When a contact placement signal is received, a targeted prompt is generated based on the scenario requirements: in a foot massage scenario, "Please place your feet separately within the outlined area" is displayed, and separate placement areas for the left and right feet are dynamically drawn at the bottom of the screen, with animated arrows indicating the correct displacement direction.

[0119] When a contour abnormality signal is received, a multi-level feedback mechanism is activated, including a full-screen warning window popping up in the center of the touch screen, displaying "Please check the placement of the contact body or confirm the type of contact body", and triggering a short buzzer alarm or a red flashing device indicator light; if the user does not respond in time, further vibration feedback is provided, such as vibration of the massage chair armrest, to enhance perception and ensure that the abnormal state is effectively identified.

[0120] At the user input level, a touchscreen is provided to receive operational parameters, such as the target operating point set, massage intensity level, machining accuracy requirements, and contact body type identifiers, such as left foot, right foot, workpiece A, and workpiece B. Numerical parameters are assigned slider controls with input range limits, while enumeration parameters are provided with drop-down menus and input data is formatted to ensure accurate and reliable command parameters transmitted to the central control module.

[0121] The status visualization function realizes information presentation through a layered interface. The bottom layer displays the contact body contour extraction results and renders the contact interface in real time with a binary image or a three-dimensional mesh model, such as the edge contour line of the foot contour and the polygonal mesh of the industrial workpiece; the middle layer superimposes the pressure distribution heat map and dynamically maps the pressure matrix through the color gradient. Red represents high pressure areas and blue represents low pressure areas, and users can click to view local pressure values; the upper layer displays the operation progress, including the motion trajectory of the execution unit and the real-time height value of the adjustable unit.

[0122] Example 2

[0123] This embodiment introduces an interactive actuator, which is used to receive the execution unit control instructions and the adjustable unit control instructions output by the central control module to achieve precise operation and stable support of the contact body, including a multi-modal drive component, an execution unit component, an adjustable support component and a sensor feedback component;

[0124] The multimodal drive component is used to receive and parse the standardized instructions output by the central control module in real time, including execution unit control instructions, including target operation point coordinates, motion trajectory parameters, functional control parameters and safety limit parameters, and adjustable unit control instructions, including adjustable unit target height, adjustment speed and method; the instructions are converted into drive signals of the corresponding hardware through the drive adaptation layer, including servo motor pulse signals, pneumatic device pressure control signals, and compatible with control protocols of different actuators; based on task priority and equipment load status, operation tasks are dynamically allocated to execution units and adjustable support units to ensure timing synchronization and resource balance of multi-unit collaborative actions.

[0125] The execution unit component is used to achieve precise operation of the contact body based on the control instructions output by the multimodal drive component; combined with the feedback data from the built-in sensor, it accurately adjusts the position, speed and output force through a closed-loop control algorithm; and monitors the safety limit parameters in real time during operation, and triggers an emergency stop and feedback signal when an abnormality is triggered.

[0126] The adjustable support component is used to provide differentiated support for the contact body based on the contact body surface equation and pressure distribution data generated by the central control module; through the grid-distributed adjustable units, the compensation adjustable units in the low-pressure weak areas are dynamically adjusted according to the calculated compensation height to fill the contact gap and avoid contact failure; through the collaborative control mechanism, the support unit and the execution unit are ensured to move synchronously, so as to achieve uniform fixed force on the contact body in a non-displacement state.

[0127] The sensor feedback component is used to collect status data of the contact body and the actuator in real time to build a control closed loop; the pressure sensor is integrated in the adjustable support unit to monitor the contact pressure distribution and feedback to the central control module for compensation of high dynamic correction and contour verification; the position sensor and force sensor are deployed in the execution unit to provide real-time feedback of motion trajectory deviation and contact force data, supporting precision calibration and force-controlled smooth operation; the safety monitoring sensor is configured to detect abnormal conditions in real time, trigger hardware-level emergency stop and prompt the user through the interactive feedback module to ensure safe and reliable operation of the system.

[0128] Example 3

[0129] This embodiment introduces an intelligent device, a general-purpose intelligent terminal based on a dynamic interactive system. It supports positioning, stable support, and adaptive operation of contact objects. It integrates four major functions: contact perception, intelligent control, execution support, and interactive feedback. It is suitable for multiple scenarios such as medical rehabilitation, industrial testing, and smart homes. It includes: an intelligent load-bearing platform, an intelligent decision-making center, an operation support system, and a multimodal human-machine interface.

[0130] The intelligent carrier platform serves as the physical carrier and sensing portal for the contact body, enabling real-time contact state sensing and contour feature extraction. A high-density pressure sensor array embedded on its surface collects real-time pressure distribution data from the contact body and the platform's interface, generating a two-dimensional pressure matrix. The platform then analyzes the mean, rate of change of adjacent means, and the norm of the difference matrix over a time window to determine whether the pressure matrix is ​​stable. The stable pressure matrix undergoes preprocessing, including noise reduction, feature enhancement, and binarization, before being divided into connected regions. Valid regions are then filtered and merged to extract the contact body's contour. A multi-level threshold algorithm is then used to evaluate the initial placement of the contact body, generating a position calibration signal that is transmitted to the multimodal human-machine interface.

[0131] The intelligent decision-making center is used for data processing, strategy generation, and command output, realizing intelligent mapping from perception data to control commands. The contact body contour extracted by the intelligent carrier platform is translated, rotated, and scaled to align with the standard contour in the prior database. The curvature analysis method is combined with Harris corner detection to match feature points and calculate the similarity. After verification, a local coordinate system is established with the contour centroid as the origin. Based on the relative distance, angle, and shape descriptor attributes of the operation point and feature point in the standard contour, the target operation point coordinates are generated through trigonometric function derivation and elastic transformation correction. Then, two types of control instructions are generated based on the execution priority, operation requirements, and equipment capabilities. One type is the execution unit control instruction containing the target operation point coordinates, motion trajectory parameters, functional control parameters, and safety limit parameters. The other type is the adjustable unit control instruction containing the adjustable unit target height, adjustment speed, and method.

[0132] The operation support system is used to achieve coordinated control of precise operation and dynamic support of the contact body. It integrates multi-modal execution units and intelligent support matrices. The multi-modal execution units support different types of actuators such as rigid robotic arms and flexible actuators, and adapt to various operating tools through the end quick-change interface. The position, speed and functional parameters are adjusted in real time based on the closed-loop control algorithm. The intelligent support matrix is ​​composed of adjustable units with grid distribution. The adjustable units for compensating low-pressure weak areas calculate the compensation height based on the mean value of the pressure matrix and the unit pressure value and dynamically adjust to fill the contact gap. The fixed adjustable units are set to the extreme value of the surface height to provide rigid support, and the coordinated control mechanism is used to ensure that the support unit and the execution unit move synchronously. The support adjustment is completed before the operation is started, so as to achieve uniform force on the contact body in a non-displacement state.

[0133] The multimodal human-machine interface is used to achieve two-way interaction for status visualization, operation guidance, and user input. It receives status signals from the contact sensing module and the central control module in real time, and presents information such as contact body contour extraction results, pressure distribution heat map, execution unit motion trajectory, and real-time height of adjustable units in a layered interface. When receiving position calibration signals, it guides the user to adjust the contact body position through multimodal methods such as touch screen graphic guidance, voice prompts, and vibration feedback. When receiving signals such as contour anomalies, a multi-level feedback mechanism is activated, including pop-up warning windows and triggering sound and light alarms. At the same time, a visual operation interface is provided to receive user-entered operation requirement parameters and contact body type identification, set slider limit ranges for numerical parameters, provide drop-down menus for enumeration parameters, and format input data to ensure the accuracy and reliability of the command parameters transmitted to the central control module.

[0134] Working principle and its effect:

[0135] The dynamic interaction system of this invention achieves adaptive manipulation and stable support of contact objects through a closed-loop system. A pressure sensor collects the pressure matrix in real time and, through time window analysis, extracts contours only when contact is stable. Through noise reduction, binarization, and connected region screening, it accurately processes complex contours such as those of human limbs and industrial workpieces, eliminating noise interference. The extracted contours are then matched and verified against standard contour feature points. If the criteria are not met, the system automatically restarts and corrects to ensure contour validity. A local coordinate system is established based on the valid contours, and coordinates are derived and elastically corrected based on the geometric relationships of standard operating points, achieving millimeter-level positioning and adapting to individual differences.

[0136] Low-pressure weak zones are dynamically delineated based on pressure distribution. Compensating adjustable units fill gaps based on calculated heights based on pressure differences. Fixed units provide rigid support using surface extremes to ensure uniform force distribution and zero displacement of contacting bodies. Multiple execution units distribute tasks based on target distance, range of motion, and load balance, optimizing paths and improving collaborative efficiency. The interactive module receives signals in real time and guides adjustments through multimodal methods such as graphical guidance and voice prompts, visualizing pressure distribution and execution status to form a closed loop of human-machine interaction.

[0137] It solves the problems of inaccurate contour extraction, positioning deviation, uneven support and low collaborative efficiency in traditional dynamic interaction systems, realizes the full process intelligence from contact perception to precise operation, significantly improves the reliability and operation accuracy of equipment in medical rehabilitation, industrial automation and other fields, provides efficient solutions for intelligent contact control, and promotes the automation upgrade of multiple scenarios.

[0138] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A dynamic interactive system, characterized in that: include: Receive operation requirement parameters and contact body type identification input by the user; The pressure distribution data of the contact surface between the contact body and the base platform is collected to generate a pressure matrix. The changes in the pressure matrix within the time window are used to determine whether the pressure matrix is ​​in a stable period. If it is in a stable period, the pressure matrix is ​​fused, feature enhanced, and binarized to divide, filter, and merge connected areas. The contour is extracted based on the foreground pixels in the connected area and the similarity with the standard contour is calculated for contour verification to output the contact body contour. At the same time, the contact body placement status is determined using a multi-level threshold and a position calibration signal is generated. receiving the position calibration signal, and outputting operation guidance and abnormality prompts to the user; The contact body profile and the standard profile are matched by extracting contour feature points of the contact body profile and the standard profile, and based on the standard profile operating point information, candidate coordinates of the contact body profile operating points are derived through trigonometric functions and corrected to obtain the operating point coordinates of the contact body profile, and an execution unit control instruction and an adjustable unit control instruction are generated based on the operating point coordinates and the contact body profile; The specific steps of generating the execution unit control instruction include: Receive a target operation point set, a target operation point execution priority, operation requirement parameters, and an operation body type identifier; Convert the target operating point coordinates from the contact body local coordinate system to the global coordinate system to obtain the current position and motion range of the execution unit; Calculating the distance between each target operating point and each execution unit, obtaining the target operating points within the movement range of the execution unit, and allocating the target operating points according to priority and load balancing principles to form a subset of the target operating points of the execution unit; For each target operation point subset of each execution unit, a path optimization algorithm is used to plan a motion trajectory including path point coordinates, moving speed, acceleration, and dwell time, and output the execution unit control instructions; The specific steps of generating the adjustable unit control instruction include: Obtain the pressure matrix and effective contact body contour during the stable period, construct the three-dimensional surface equation of the contact surface between the contact body and the base platform, and extract the height extreme value of the three-dimensional surface; Calculate the extreme values ​​and mean values ​​of the pressure matrix, configure the compensation coefficient to generate a low-pressure threshold, and then determine whether the pressure value within the contact body contour is less than the threshold to divide the low-pressure weak area; The three-dimensional surface equation is mapped to the adjustable unit grid of the base platform support structure, and the corresponding relationship between the adjustable unit coordinates and the surface height is established. The adjustable units in the low-pressure weak area are selected as compensating adjustable units, and the adjustable units in the non-contact body contour area are selected as fixed adjustable units. For the compensating adjustable unit, the compensation height is calculated based on the mean value of the pressure matrix and the pressure value of the adjustable unit; for the fixed adjustable unit, the compensation height is set to the height extreme value of the three-dimensional surface; based on the compensation height, the control instruction of the adjustable unit is generated, including the compensation height, adjustment speed and adjustment mode; The execution unit control instruction and the adjustable unit control instruction are received and analyzed, and the execution unit and the adjustable unit are driven to operate and support the contact body.

2. A dynamic interactive system according to claim 1, characterized in that: The specific steps of contact body contour extraction include: The target pressure matrix is ​​obtained by weighted averaging the pressure matrices in the stable period. After noise reduction and feature enhancement, each pixel in the target pressure matrix is ​​divided into foreground and background using an adaptive threshold, and the target pressure matrix is ​​converted into a binary image. Configure a connected region threshold, traverse the foreground pixels in the binary image, divide the connected regions and extract features of the connected regions; Determine whether the number of connected regions is greater than the connected domain threshold. If so, filter out valid connected regions and merge them to make the number of connected regions equal to the connected domain threshold. Otherwise, determine whether the number of connected regions is less than the connected domain threshold. If so, generate a contact placement signal. Otherwise, perform contour extraction on the foreground pixels in each connected region. The specific steps of screening the effective connected regions and merging the connected regions include: Calculate the distance from the centroid of each connected region to the centroids of the remaining connected regions, and screen the valid connected regions based on the area of ​​the connected regions; merge the connected regions based on the overlapping area of ​​the circumscribed rectangles of the valid connected regions, the distance between the centroids, and the topological relationship until the number of connected regions is equal to the connected domain threshold.

3. A dynamic interactive system according to claim 2, characterized in that: The specific steps of contact body contour extraction also include: Configure a similarity threshold, smooth the contours extracted from the connected regions, and calculate the similarity between the contours in each connected region and the standard contour. If the similarity is greater than the similarity threshold, the contour verification is successful and marked as a valid contour. The contact body contours of the connected regions that have passed the contour verification are output. Otherwise, the contour verification fails, the contour correction operation is started, the pressure distribution data is re-collected, the dynamic contour is extracted, and then the contour verification is performed and the number of contour verifications is counted; the verification threshold is configured, and if the number of contour verifications is greater than the verification threshold, a contour abnormality signal is generated.

4. A dynamic interactive system according to claim 1, characterized in that: The specific steps of obtaining the operating point coordinates of the contact body contour include: Establish the local coordinate system of the contact body contour; Extract the contour feature points of the contact body contour, and obtain the contact body operation points, contour feature points, and supplementary attribute information of each operation point under the standard contour; The contact body contour is aligned with the standard contour, and the contour feature points of the standard contour and the contact body contour are preliminarily matched based on the principle of closest distance or the principle of similarity of contour feature points.

5. A dynamic interactive system according to claim 4, characterized in that: The specific step of obtaining the operating point coordinates of the contact body contour also includes: According to the relative distance and angle relationship between the operating point and the contour feature point in the standard contour, as well as the coordinates of the contour feature point preliminarily matched in the contact body contour, the candidate coordinates of the operating point of the contact body contour are derived through the trigonometric function relationship; The relative distance difference and angle difference between the matching feature points in the contact body contour and the standard contour, as well as the shape descriptor difference between the area where the candidate coordinates of the operation point are located and the area corresponding to the operation point in the standard contour are calculated. The candidate coordinates of the operation point are corrected through the elastic transformation model; the coordinates of the operation point of each contour of the contact body are output.

6. A dynamic interactive system according to claim 1, characterized in that: The specific steps of determining whether the pressure matrix is ​​in a stable period include: Setting a collection interval, collecting a pressure matrix, and calculating a change rate of an element mean of the pressure matrix and a mean of adjacent pressure matrices; Setting a time window, and calculating a difference matrix of corresponding matrix elements for adjacent pressure matrices within the time window; The mean change rate threshold and the difference norm threshold are set. When the change rate of the mean values ​​of adjacent pressure matrices within the time window is less than the mean change rate threshold and the difference matrix norm is less than the difference norm threshold, the pressure matrix is ​​judged to be in a stable period, and the contact body contour extraction operation is triggered.

7. An interactive actuator, configured to receive an execution unit control instruction and an adjustable unit control instruction of a dynamic interactive system according to any one of claims 1 to 6, and to operate and stably support a contact body, characterized in that: It includes a multi-modal drive component, an execution unit component, an adjustable support component and a sensor feedback component; The multimodal drive component receives and analyzes the execution unit control instructions and adjustable unit control instructions of the central control module in real time, converts them into corresponding hardware drive signals through the drive adaptation layer, dynamically allocates tasks based on task priority and load status, and ensures multi-unit coordinated synchronization; The actuator assembly combines built-in sensor feedback to precisely adjust position, speed, and output force through a closed-loop control algorithm, monitor safety limit parameters in real time, and perform emergency stops and feedback signals in the event of an abnormality; The adjustable support assembly dynamically compensates the height of the low-pressure weak area through gridded adjustable units based on the contact body surface equation and pressure distribution data, and synchronizes the support and execution unit movements through a collaborative control mechanism; The sensor feedback component collects the status data of the contact body and the actuator in real time, builds a control closed loop, monitors the contact pressure, motion trajectory deviation and contact force, and configures safety sensors to detect abnormal conditions and trigger hardware-level emergency stop.

8. An intelligent device, which is an intelligent terminal for implementing a dynamic interactive system according to any one of claims 1 to 6, characterized in that: It includes intelligent carrying platform, intelligent decision-making center, operation support system and multimodal human-machine interface; The intelligent load-bearing platform has a pressure sensor array embedded in its surface, which collects pressure distribution data to generate a pressure matrix. The stable period is determined by analyzing the mean, mean change rate, and difference matrix norm in a time window. The stable period data is pre-processed and then divided into connected areas. The contact body contour is extracted and a position calibration signal is generated. The intelligent decision center aligns the contact body contour with the standard contour, matches feature points and calculates similarity, establishes a local coordinate system to derive the target operation point coordinates, and generates an execution unit control instruction containing the target operation point coordinates and an adjustable unit control instruction containing the adjustable unit height; The operation support system integrates an execution unit and an adjustable unit. The execution unit adjusts the position and functional parameters based on the instructions, and the adjustable unit dynamically compensates the height of the low-pressure area to achieve synchronization between support and operation. The multimodal human-machine interface receives status signals and presents them visually, provides multimodal guidance based on position calibration signals, and receives user input parameters and formats them.

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