Power output control method and device, computer device, and storage medium

Abstract

This application relates to the field of equipment control, providing a force output control method, device, computer equipment, and storage medium. The method is applied to a force-output device, which includes a motor and a winding mechanism connected to the motor. The winding mechanism is used to wind a cable. The method includes: acquiring acceleration information of the cable performing a winding or releasing operation; determining inertial weight information for simulating inertia based on the acceleration information; determining target control parameters for the motor based on the inertial weight information and preset base weight information; and controlling the output resistance of the motor based on the target control parameters. By simulating the existence of inertia through the motor, the simulation effect of force output is improved, thereby enhancing the user's training effect and experience.

Description

Technical Field

[0001] This application relates to the field of equipment control, and more particularly to a force output control method, device, computer equipment, and storage medium. Background Technology

[0002] Existing strength training devices use motors to provide resistance, thus simulating the weights used in traditional strength training. Since the weight of the weights is simulated through the resistance output by the motor, users are not affected by the inertia of the weights during actual training, preventing injuries caused by inertia. However, in certain types of strength training, the presence of inertia can better simulate real weights, achieving better training results. Therefore, there is an urgent need in existing technology for a force output device that can simulate the inertia of weights using a motor. Summary of the Invention

[0003] The main purpose of this application is to provide a power output control method, device, computer equipment, and storage medium, which aims to improve the simulation effect of power output equipment.

[0004] In a first aspect, this application provides a power output control method applied to a power output device, the power output device including a motor and a winding mechanism connected to the motor, the winding mechanism being used to wind a rope or cable, the method comprising:

[0005] Obtain the acceleration information of the cable during winding or unwinding operations;

[0006] Based on the acceleration information, inertial weight information for simulating inertial effects is determined;

[0007] The target control parameters of the motor are determined based on the inertial weight information and the preset basic weight information, and the output resistance of the motor is controlled according to the target control parameters.

[0008] Secondly, this application also provides a force output control device, the force output control device comprising:

[0009] An acceleration detection module is used to acquire acceleration information when the rope or cable performs a winding or releasing operation;

[0010] An inertial information determination module is used to determine inertial weight information for simulating inertial effects based on the acceleration information;

[0011] The resistance output module is used to determine the target control parameters of the motor based on the inertial weight information and the preset basic weight information, and to control the output resistance of the motor based on the target control parameters.

[0012] Thirdly, this application also provides a computer device, the computer device including a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the force output control method as described above.

[0013] Fourthly, this application also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the force output control method described above.

[0014] This application provides a force output control method, device, equipment, and computer storage medium, applied to a force output device. The force output device includes a motor and a winding mechanism connected to the motor. The winding mechanism is used to wind a cable. The method includes: acquiring acceleration information of the cable performing a winding or releasing operation; determining inertial weight information for simulating inertia based on the acceleration information; determining target control parameters of the motor based on the inertial weight information and preset base weight information; and controlling the output resistance of the motor based on the target control parameters. Based on the magnitude of the acceleration when the user pulls the cable, the magnitude of the inertial weight used to simulate inertia at that acceleration is determined, thereby controlling the motor output resistance to simulate the gravity of the base weight and the corresponding inertia. By simulating the existence of inertia through the motor, the simulation effect of force output is improved, thereby improving the user's training effect and training experience. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating a force output control method according to an embodiment of this application;

[0017] Figure 2 A schematic diagram illustrating a scenario for a basic weight information adjustment method provided in one embodiment of this application;

[0018] Figure 3 A schematic block diagram of a force output control device provided in an embodiment of this application;

[0019] Figure 4 This is a schematic block diagram of the structure of a computer device according to an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0022] This application provides a force output control method, device, computer equipment, and storage medium.

[0023] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a force output control method provided in an embodiment of this application. The force output control method provided in this embodiment is applied to a force output device, which includes a motor, a winding mechanism connected to the motor, and a cable disposed on the winding mechanism. The motor of the force output device generates resistance to simulate a counterweight of a certain weight. Specifically, when a user uses the force output device for strength training, they can overcome the output resistance of the motor to pull the cable a certain distance, thereby simulating the scenario of overcoming gravity to pull a counterweight during strength training with a real counterweight.

[0025] Understandably, real counterweights possess a certain degree of inertia during use. However, the force output device in this embodiment simulates the tension of the counterweight on the cable by outputting resistance through a motor, thus eliminating inertia. Compared to traditional strength training scenarios, the output resistance of this device is more predictable, preventing user injury due to inertia during training. However, in some types of strength training, the presence of inertia is necessary, such as using inertia to lift heavy objects to a certain height. Existing force output devices cannot accurately simulate the inertia of the counterweight. Therefore, this application provides a force output control method to simulate the existence of inertia by controlling the resistance output by the motor of the force output device.

[0026] For example, users can set a normal mode or an inertial mode for the power output device. In normal mode, the resistance output by the motor is only used to simulate the tension of the counterweight on the cable; that is, the magnitude of the motor's output resistance depends solely on the base weight information. In inertial mode, in addition to outputting resistance to simulate the tension of the counterweight, the motor also needs to increase or decrease the resistance to simulate the effect of inertia. Therefore, for the same base weight information, the resistance output in inertial mode may be greater than, less than, or equal to the resistance output in normal mode.

[0027] like Figure 1 As shown, the force output control method includes steps S101 to S103.

[0028] Step S101: Obtain the acceleration information of the rope when it performs a winding or releasing operation.

[0029] For example, an object's inertia depends on its mass. However, when using real counterweights for strength training, the tension of the counterweights on the cable depends not only on the mass of the counterweights themselves but also on their acceleration. Therefore, in order for the motor to more accurately simulate the effect of inertia, it is necessary to acquire the acceleration information of the cable during winding or releasing operations in real time. Specifically, the acceleration information can include: the magnitude of the acceleration and the direction of the acceleration.

[0030] For example, a rope is wound around a winding mechanism. The winding or releasing operation of the rope will cause the winding mechanism to rotate in different directions. Therefore, the magnitude and direction of the acceleration of the rope during the winding or releasing operation can be determined based on the angular acceleration of the winding mechanism's rotation. The conversion method between the angular acceleration of the winding mechanism and the linear acceleration of the rope is not elaborated here. Of course, this is not the only method; the acceleration information of the rope can also be determined in other ways, such as by using a speed sensor to detect the moving speed of the rope end, thereby obtaining the rope's acceleration information. The method for obtaining acceleration information is not limited here.

[0031] Understandably, the direction of a rope's acceleration is related to the change in its velocity. For example, if the rope's velocity decreases, meaning the change in velocity is negative, then the direction of the rope's acceleration is represented by a negative value; conversely, if the rope's velocity increases, meaning the change in velocity is positive, then the direction of the rope's acceleration is represented by a positive value.

[0032] Step S102: Determine the inertial weight information used to simulate inertial action based on the acceleration information.

[0033] Understandably, in traditional strength training scenarios, due to inertia, the magnitude of the pulling force felt by the human body is related to the magnitude of the weight's acceleration. For example, when the weight's acceleration is upward, such as when it accelerates upward or decelerates downward, the weight will be in a state of "overweight," and the pulling force felt by the human body will be greater than the actual weight it experiences. Conversely, when the weight's acceleration is downward, such as when it decelerates upward or accelerates downward, the weight will be in a state of "weightlessness," and the pulling force felt by the human body will be less than the actual weight it experiences. However, in the scenario of strength training using the force output device provided in this application embodiment, the user simulates the downward or upward movement of the weight by performing winding or releasing operations with a cable. Therefore, in order to simulate the existence of inertia, the magnitude of the resistance felt by the user needs to be related to the acceleration of the cable.

[0034] In some implementations, determining the inertial weight information for simulating inertial effects based on the acceleration information includes:

[0035] Based on the basic weight information and the acceleration information, inertial force information for simulating inertial action is determined;

[0036] The inertial weight information is determined based on the ratio of the inertial force information to the gravitational acceleration.

[0037] For example, the base weight information is used to determine the mass of the counterweight simulated by the motor. Since the magnitude of inertia is related to mass, and the magnitude of the pulling force felt by the human body is related to acceleration, the inertial force information is determined based on the base weight information and acceleration information.

[0038] For example, the motor of the power output device outputs resistance based on weight information. Therefore, it is necessary to convert the inertial force information into inertial weight information, that is, to divide the inertial force information by the gravitational acceleration to obtain the inertial weight information. The value of the gravitational acceleration can be set according to actual needs, such as an approximate value of 9.8 or 10, or the magnitude of the gravitational acceleration can be adjusted according to the latitude of the power output device. There is no limitation here.

[0039] In some implementations, determining the inertial force information for simulating inertial effects based on the basic weight information and the acceleration information includes:

[0040] The inertial force information used to simulate inertial action is determined based on the product of the basic weight information and the acceleration information.

[0041] For example, the inertial force information is determined by the product of the base weight information and the acceleration information. The base weight information refers to the mass of the counterweight that the output device's motor needs to simulate. This base weight information can be set by the user via command or obtained through other means, such as pre-determining the base weight information based on the user's training habits; no limitation is made here.

[0042] In some implementations, determining the inertial force information for simulating inertial action based on the product of the basic weight information and the acceleration information includes:

[0043] Obtain a preset inertia coefficient, wherein the inertia coefficient is used to represent the strength of inertial action;

[0044] The magnitude of the inertial force information is determined based on the product of the basic weight information, the acceleration information, and the inertia coefficient.

[0045] For example, users can adjust the strength of inertial action by adjusting the inertia coefficient according to actual needs. The inertia coefficient can be any value between 0 and 100%. When the inertia coefficient is 0, the motor only needs to output resistance to simulate the weight of the counterweight based on the basic weight information, without needing to add inertial weight information to simulate the inertial effect. When the inertia coefficient is 100%, the motor fully simulates the effect of inertial action on the resistance felt by the human body based on the basic weight information. Of course, this is not a limitation; the inertia coefficient can also be greater than 100%, which is not specified here.

[0046] Step S103: Determine the target control parameters of the motor based on the inertial weight information and the preset basic weight information, and control the output resistance of the motor based on the target control parameters.

[0047] For example, based on the preset base weight information, the target control parameters are obtained by increasing or decreasing the base weight information according to the inertial weight information. The target control parameters are used to represent the weight that needs to be simulated when the motor actually outputs resistance, which is the weight that the human body actually feels.

[0048] In some implementations, determining the target control parameters of the motor based on the inertial weight information and preset base weight information, and controlling the motor output resistance based on the target control parameters, includes:

[0049] If the direction of the acceleration information is consistent with the relative motion direction of the cable, the target weight value is determined based on the sum of the inertial weight information and the basic weight information.

[0050] If the direction of the acceleration information is inconsistent with the relative motion direction of the cable, the target weight value is determined based on the difference between the inertial weight information and the basic weight information.

[0051] The target control parameters are determined based on the target weight value, and the motor is controlled to output the resistance corresponding to the target weight value according to the target control parameters.

[0052] For example, the relative motion direction of the cable includes the direction of the winding operation and the direction of the release operation. For instance, the direction of the cable winding operation is defined as the first direction, and the direction of the cable release operation is defined as the second direction. If the direction of the acceleration information and the relative motion direction of the cable are both the first direction, meaning the cable is in the process of accelerated release, then the target weight value is obtained by adding inertial weight information to the basic weight information to simulate the "overweight" state of the counterweight. Conversely, if the direction of the acceleration information is the second direction, and the relative motion direction of the cable is the first direction, meaning the cable is in the process of decelerated release, then the target weight value is obtained by subtracting inertial weight information from the basic weight information to simulate the "weightless" state of the counterweight. The cases of accelerated winding and decelerated winding of the cable can be deduced similarly, and will not be elaborated upon here.

[0053] For example, the target control parameters indicate the resistance corresponding to the target weight value of the motor output of the power-generating equipment.

[0054] Please refer to Figure 2 , Figure 2 This is a schematic diagram illustrating a method for adjusting basic weight information according to an embodiment of this application.

[0055] like Figure 2 As shown, in some embodiments, the method further includes:

[0056] In response to a sliding operation on the first control in the weight adjustment interface, the base weight information is determined; and / or

[0057] In response to a click operation on the second control in the weight adjustment interface, the basic weight information is determined.

[0058] For example, the base weight information can be preset by the user according to their own training needs. For instance, in... Figure 2 In the weight adjustment interface shown, users can clearly and intuitively adjust the weight of the simulated counterweight of the output device by sliding the first control 210. However, in practical applications, the sliding distance of the first control 210 is often difficult to control precisely, and problems such as excessive or insufficient adjustment can easily occur, causing inconvenience to users.

[0059] Therefore, in the force output control method provided in this application embodiment, the weight of the simulated counterweight of the force output device can also be adjusted by clicking the second control 220 in the weight adjustment interface. It is understood that in scenarios where actual counterweights are used for strength training, the adjustment of the counterweight weight is discontinuous; for example, a user can add or remove a counterweight of a certain mass. Similarly, when adjusting the basic weight information of the force output device by clicking the second control 220, the change in the basic weight information is also discontinuous and precise. Adjusting the basic weight information of the force output device in this way can better simulate a real counterweight, improve the simulation effect of the force output device, and allow the user to accurately adjust the value of the basic weight information, thus improving the user experience.

[0060] In some implementations, determining the base weight information in response to a sliding operation on a first control in the weight adjustment interface includes:

[0061] The basic weight information is determined based on the relative displacement of the sliding operation and the first step length corresponding to the first control.

[0062] The process of determining the basic weight information in response to a click operation on the second control in the weight adjustment interface includes:

[0063] The basic weight information is determined based on the second step length corresponding to the second control.

[0064] For example, when adjusting the basic weight information by sliding the first control 210, the weight adjustment amount is determined based on the relative displacement of the first control 210 and a preset first step length. The weight adjustment amount corresponding to a unit distance movement of the first control 210 can be preset as the first step length. Based on historical weight information, the basic weight information is determined according to this first step length and the relative displacement. Specifically, for example, if the first step length corresponding to a unit distance is 0.1 kg, the user can increase or decrease the historical weight information by n × 0.1 kg by moving the first control 210 up or down by n units.

[0065] For example, when adjusting the base weight information by clicking the second control 220, the weight adjustment amount is determined according to a preset second step size. The weight adjustment amount corresponding to each click of the second control 220 can be preset as the second step size. The base weight information is obtained by adding or subtracting the weight adjustment amount corresponding to the second step size from the historical weight information. Specifically, the second control 220 may include a second increment control 221 and a second decrement control 222. Clicking the second increment control increases the base weight value, and clicking the second decrement control decreases the base weight value. The second increment control and the second decrement control can correspond to the same or different second step sizes, which is not limited here.

[0066] For example, the second step length can also be set by the user to simulate the mass of the counterweight added or removed each time when using actual counterweights. The user can adjust the second step length to values ​​such as 0.5kg, 1kg, 2kg, etc., according to actual needs, but it is not limited to these values ​​and is not restricted here.

[0067] The force output control method provided in the above embodiments acquires acceleration information of the cable during winding or releasing operations; determines inertial weight information for simulating inertia based on the acceleration information; determines target control parameters for the motor based on the inertial weight information and preset base weight information; and controls the motor output resistance based on the target control parameters. The magnitude of the inertial weight used to simulate inertia at the acceleration level is determined based on the user's pulling of the cable, thereby controlling the motor output resistance to simulate the gravity of the base weight and the corresponding inertia. By simulating the existence of inertia, the simulation effect of force output is improved, thereby enhancing the user's training effect and experience.

[0068] Please see Figure 3 , Figure 3 This is a schematic diagram of a force output control device provided in an embodiment of this application. The force output control can be configured in a server or terminal to execute the aforementioned force output control method.

[0069] like Figure 3 As shown, the force output control device includes: an acceleration detection module 110, an inertial information determination module 120, and a resistance output module 130.

[0070] The acceleration detection module 110 is used to acquire acceleration information of the rope when it is winding or releasing.

[0071] The inertial information determination module 120 is used to determine inertial weight information for simulating inertial action based on the acceleration information;

[0072] The resistance output module 130 is used to determine the target control parameters of the motor based on the inertial weight information and the preset basic weight information, and to control the output resistance of the motor based on the target control parameters.

[0073] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the above-described apparatus and its modules and units can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0074] The methods and apparatus of this application can be used in a wide variety of general-purpose or special-purpose computing system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0075] For example, the above-described method and apparatus can be implemented as a computer program, which can be used in, for example... Figure 4 It runs on the computer device shown.

[0076] Please see Figure 4 , Figure 4 This is a schematic block diagram illustrating the structure of a computer device provided in an embodiment of this application. The computer device may be a server or a terminal.

[0077] like Figure 4 As shown, the computer device 30 includes a processor 301, a memory 302, and a network interface 303 connected via a system bus. The memory 302 may include a storage medium and internal memory.

[0078] The storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause the processor 301 to perform any force output control method.

[0079] Processor 301 provides computing and control capabilities to support the operation of the entire computer device.

[0080] The internal memory provides an environment for the execution of computer programs stored in the storage medium. When the computer program is executed by the processor 301, the processor 301 can execute any kind of force output control method.

[0081] This network interface 303 is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 4The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0082] It should be understood that processor 301 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0083] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0084] Obtain the acceleration information of the cable during winding or unwinding operations;

[0085] Based on the acceleration information, inertial weight information for simulating inertial effects is determined;

[0086] The target control parameters of the motor are determined based on the inertial weight information and the preset basic weight information, and the output resistance of the motor is controlled according to the target control parameters.

[0087] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of force output control described above can be referred to the corresponding process in the aforementioned force output control method embodiments, and will not be repeated here.

[0088] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to various embodiments of the force output control method of this application.

[0089] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

[0090] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0091] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0092] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling force output, characterized in that, The method is applied to power output equipment, which includes a motor and a winding mechanism connected to the motor, the winding mechanism being used to wind a rope or cable. Obtain the acceleration information of the cable during winding or unwinding operations; Obtain a preset inertia coefficient, wherein the inertia coefficient is used to represent the strength of inertial action; determine the magnitude of inertial force information based on the preset basic weight information, the acceleration information, and the product of the inertia coefficient; determine the inertial weight information used to simulate inertial action based on the ratio of the inertial force information to gravitational acceleration. The target control parameters of the motor are determined based on the inertial weight information and the base weight information, and the output resistance of the motor is controlled based on the target control parameters.

2. The force output control method according to claim 1, characterized in that, The step of determining the target control parameters of the motor based on the inertial weight information and the base weight information, and controlling the output resistance of the motor based on the target control parameters, includes: If the direction of the acceleration information is consistent with the relative motion direction of the rope, the target weight value is determined based on the sum of the inertial weight information and the basic weight information. If the direction of the acceleration information is inconsistent with the relative motion direction of the cable, the target weight value is determined based on the difference between the inertial weight information and the basic weight information. The target control parameters are determined based on the target weight value, and the motor is controlled to output the resistance corresponding to the target weight value according to the target control parameters.

3. The force output control method according to claim 1 or 2, characterized in that, The method further includes: In response to a sliding operation on the first control in the weight adjustment interface, the base weight information is determined; and / or In response to a click operation on the second control in the weight adjustment interface, the basic weight information is determined.

4. The force output control method according to claim 3, characterized in that, The process of determining the basic weight information in response to a sliding operation on the first control in the weight adjustment interface includes: The basic weight information is determined based on the relative displacement of the sliding operation and the first step length corresponding to the first control. The process of determining the basic weight information in response to a click operation on the second control in the weight adjustment interface includes: The basic weight information is determined based on the second step length corresponding to the second control.

5. A force output control device, said force output control device being used to execute the force output control method as described in any one of claims 1-4, characterized in that, The device includes: An acceleration detection module is used to acquire acceleration information when the rope or cable performs a winding or releasing operation; An inertial information determination module is used to determine inertial weight information for simulating inertial action based on the acceleration information. This module is used to obtain a preset inertial coefficient, which represents the strength of the inertial action; to determine the magnitude of inertial force information based on the product of preset base weight information, the acceleration information, and the inertial coefficient; and to determine the inertial weight information for simulating inertial action based on the ratio of the inertial force information to gravitational acceleration. The resistance output module is used to determine the target control parameters of the motor based on the inertial weight information and the base weight information, and to control the output resistance of the motor based on the target control parameters.

6. A computer device, characterized in that, The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the force output control method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the force output control method as described in any one of claims 1 to 4.

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