Flexible variable-rigidity wearable force feedback equipment and control method thereof

Abstract

The invention discloses a flexible variable-rigidity wearable force feedback device and a control method thereof, and relates to the technical field of wearable force feedback devices, the flexible variable-rigidity wearable force feedback device comprises an outer coating layer, an elastic film and a rigid sheet layer; the outer coating layer has flexibility and ductility, and an airtight space is formed in the outer coating layer; a plurality of layers of elastic films are arranged in the airtight space; a plurality of rigid sheet layers are arranged in the airtight space; each rigid sheet layer comprises a plurality of rigid sheets; the rigid sheet layers and the elastic films are alternately stacked to form a variable stiffness layer; wherein the friction force between the rigid sheet layer and the elastic film is changed by adjusting the air pressure of the airtight space, so that the change of the overall rigidity of the equipment is realized. The wearing comfort of the force feedback device is improved, the force feedback device can better fit the curved surface of the human body, and the response speed is increased.

Description

Technical Field

[0001] This invention relates to the field of wearable force feedback devices, and in particular to a flexible variable stiffness wearable force feedback device and its control method. Background Technology

[0002] With the rapid development of virtual reality (VR), augmented reality (AR), and teleoperation technologies, users have placed higher demands on the realism of human-computer interaction experiences. Force feedback devices, as a key interface for achieving realistic tactile and force-sensory interaction, can apply controllable force or motion resistance to users, thereby significantly improving immersion and operational accuracy in virtual or remote environments.

[0003] Currently, most force feedback devices on the market adopt rigid structural solutions based on motors and linkage mechanisms. Although these devices can provide high-precision force feedback output, they generally have inherent drawbacks such as large size, excessive weight, limited movement space, and poor wearability, making them difficult to adapt to immersive interactive scenarios that require movement, large areas, or full-body participation.

[0004] To overcome the shortcomings of rigid devices, wearable flexible force feedback devices have become an important research direction in this field. These devices, worn on the human body, can provide real-time force feedback without hindering the user's free movement. Among them, flexible devices based on the layer-blocking principle show great potential due to their thin and light structure, low manufacturing cost, and ease of wear. Layer-blocking technology changes the friction between multiple layers of materials by adjusting vacuum negative pressure, thereby achieving changes in structural stiffness.

[0005] However, flexible force feedback devices based on the layer blocking principle in related technologies can only bend and deform along a preset direction, lacking extensibility in multiple directions within their own plane. This makes it difficult for them to seamlessly conform to the complex curves of human joints, limiting wearing comfort and freedom of movement. Therefore, a new solution is urgently needed to address these issues. Summary of the Invention

[0006] The purpose of this invention is to provide a flexible variable stiffness wearable force feedback device and its control method to solve the problems existing in the prior art, improve wearing comfort, enable it to better conform to the curvature of the human body, and improve response speed.

[0007] To achieve the above objectives, the present invention provides the following solution: This invention provides a flexible variable stiffness wearable force feedback device, comprising: an outer covering layer, an elastic film, and a rigid sheet layer; the outer covering layer is flexible and extensible, and has an airtight space inside; multiple layers of the elastic film are disposed within the airtight space; multiple layers of the rigid sheet layer are disposed within the airtight space; each rigid sheet layer comprises multiple rigid sheets; the rigid sheet layer and the elastic film are alternately stacked to form a variable stiffness layer; wherein, by adjusting the air pressure of the airtight space to change the frictional force between the rigid sheet layer and the elastic film, the overall stiffness of the device is changed.

[0008] Preferably, the multiple rigid sheets on the same elastic film are discretely distributed in a two-dimensional plane in a non-unidirectional manner.

[0009] Preferably, the rigid sheet is a regular hexagonal sheet structure, made of 5052 aluminum alloy, and has a thickness of 0.2 mm; the elastic film is made of polydimethylsiloxane and has a thickness of 0.1 mm.

[0010] Preferably, the outer coating is made of biocompatible silicone material.

[0011] Preferably, the rigid sheets of different layers are staggered in the stacking direction.

[0012] Preferably, the outer covering layer includes an upper cover film and a lower cover film stacked together, and the edges of the upper cover film and the lower cover film are bonded and fixed.

[0013] Preferably, the flexible variable stiffness wearable force feedback device further includes a control system, which includes a vacuum pump, a vacuum gauge, and a pressure regulating valve. The vacuum pump is used to evacuate the airtight space to create a negative pressure; the vacuum gauge is used to detect the real-time pressure of the airtight space; and the pressure regulating valve is used to control the negative pressure intensity of the airtight space.

[0014] Preferably, an air passage connector is sandwiched between the edges of the upper cover film and the lower cover film, with one end of the air passage connector extending from between the upper cover film and the lower cover film.

[0015] The present invention also provides a control method for the flexible variable stiffness wearable force feedback device as described above, comprising the following steps: changing the frictional force between the rigid sheet layer and the elastic film by adjusting the air pressure of the airtight space, thereby realizing the change of the overall stiffness of the device.

[0016] Preferably, during the adjustment process, the pressure value of the airtight space of the equipment is monitored in real time by a vacuum gauge to provide real-time feedback on its negative pressure value; the pressure regulating valve and / or vacuum pump are adjusted according to the pressure value information to make the negative pressure inside the airtight space reach a predetermined value, thereby increasing the stiffness of the variable stiffness layer by increasing the interlayer friction and realizing force feedback.

[0017] The present invention achieves the following technical effects compared to the prior art: In this embodiment, the outer coating layer and the elastic film possess in-plane extensibility, while the rigid sheet layer integrated thereon is formed by multiple rigid sheets arranged on the elastic film. These rigid sheets can also move as the elastic film extends, thus enabling the entire force feedback device to extend in-plane. When the device undergoes complex deformation under normal pressure, each rigid sheet can generate independent, minute translations and rotations on the elastic film, thereby achieving multi-directional extensibility and flexibility of the device in a two-dimensional plane on a macroscopic scale. This not only significantly improves wearing comfort, allowing it to better conform to the curves of the human body, but also reduces flow resistance during vacuuming and air rupture due to the rapid flow of air through the gaps between the sheets, thereby improving the response speed to stiffness changes. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the flexible variable stiffness wearable force feedback device provided in some embodiments of the present invention; Figure 2 A schematic diagram of the structure of the flexible variable stiffness wearable force feedback device in some embodiments of the present invention under normal pressure. Figure 3 A schematic diagram of the structure of the flexible variable stiffness wearable force feedback device in some embodiments of the present invention under negative pressure; In the diagram: 20-outer coating layer; 21-sealing edge; 30-variable stiffness layer; 31-rigid sheet; 32-elastic film; 40-gas connection pipe; 50-control system; 51-vacuum pump; 52-filter pressure regulating valve; 53-switching valve; 54-vacuum gauge. Detailed Implementation

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

[0021] The purpose of this invention is to provide a flexible variable stiffness wearable force feedback device and its control method to solve the problems existing in the prior art, improve wearing comfort, enable it to better conform to the curvature of the human body, and improve response speed.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] First, some technical terms involved in the embodiments of this application will be introduced.

[0024] The following is combined with Figures 1 to 3 The following describes embodiments of the present invention.

[0025] Example 1 This invention provides a flexible variable stiffness wearable force feedback device, comprising: an outer covering layer 20, an elastic film 32, and a rigid sheet layer; the outer covering layer 20 is flexible and extensible, and has an airtight space inside; the elastic film 32 is provided in multiple layers and disposed within the airtight space; the rigid sheet layer is provided in multiple layers and disposed within the airtight space; each rigid sheet layer includes multiple rigid sheets 31; the rigid sheet layer and the elastic film 32 are alternately stacked to form a variable stiffness layer 30; wherein, by adjusting the air pressure of the airtight space to change the frictional force between the rigid sheet layer and the elastic film 32, the overall stiffness of the device is changed.

[0026] In this embodiment, the outer covering layer 20 and the elastic film 32 have in-plane extensibility, while the rigid sheet layer integrated thereon is formed by multiple rigid sheets 31 arranged on the elastic film 32. The rigid sheets 31 can also move as the elastic film 32 extends, thus enabling the entire force feedback device to extend in-plane. When the device undergoes complex deformation under normal pressure, each rigid sheet 31 can generate independent minute translations and rotations on the elastic film 32, thereby achieving multi-directional extensibility and flexibility of the device in a two-dimensional plane on a macroscopic scale. This not only significantly improves wearing comfort, allowing it to better conform to the curvature of the human body, but also reduces flow resistance during vacuuming and air breaking because the air between the layers can flow rapidly through the gaps between the sheets, thereby improving the response speed to stiffness changes.

[0027] The working principle of the variable stiffness layer 30 in this invention is based on the principle of layer blocking: Under normal pressure, the interlayer pressure is small, the friction is low, and the rigid sheets 31 can slide relative to each other, allowing the device to be in a flexible state with large-angle bending; when the internal air pressure decreases to a transition value, the interlayer pressure increases, the friction strengthens, and the device enters an intermediate state with increased bending resistance; when the internal air pressure approaches a vacuum, the rigid sheets 31 are tightly clamped together, the static friction reaches its maximum value, the internal sheets are locked, and the device becomes a rigid state resistant to deformation. By continuously adjusting the internal air pressure, the overall stiffness of the device can be continuously and steplessly varied between the above states.

[0028] In some embodiments, the rigid sheet 31 is a metal sheet with a certain thickness.

[0029] In some embodiments, multiple rigid sheets 31 on the same elastic film 32 are discretely distributed in a two-dimensional plane in a non-unidirectional manner.

[0030] In this embodiment, the "non-unidirectional discrete distribution" means that the rigid sheets 31 are distributed in both the X and Y axes of the two-dimensional plane, rather than arranged in only a line or one direction. This arrangement ensures that when bending or tensile stress is applied in any direction, a flexible path formed by the gaps between the multiple rigid sheets 31 and the elastic film 32 will be encountered. Therefore, this structure fundamentally eliminates the "rigid main axis" or "bendable axis" of the device in the plane, achieving true isotropic flexibility. This allows the device to adapt to complex deformations from any direction without discrimination, greatly enhancing its versatility and naturalness in wearable applications.

[0031] The specific forms of achieving "non-unidirectional distribution" can be diverse. For example, the rigid sheet 31 can be arranged in a rectangular array, a ring array, or a random, irregular discrete distribution, as long as its overall distribution on a two-dimensional plane is not limited to a single direction, the purpose of this invention can be achieved.

[0032] In some embodiments, the rigid sheet 31 is a regular hexagonal sheet structure, made of 5052 aluminum alloy, with a thickness of 0.2 mm; the elastic film 32 is made of polydimethylsiloxane, with a thickness of 0.1 mm.

[0033] In this embodiment, the shape, material, and thickness of the rigid sheet 31 and the material and thickness of the elastic film 32 are defined.

[0034] Specifically, the rigid sheet 31 is made of 5052 aluminum alloy sheet, which is laser-cut into a regular hexagon. Each rigid sheet 31 is approximately 0.2 mm thick, and its side length is designed according to the dimensions of human joints to ensure both strength and flexibility. The elastic film 32 is made of PDMS (polydimethylsiloxane) material. During preparation, Dow Corning 184 type PDMS main agent and curing agent are mixed at a weight ratio of 7:1, then poured into a mold and laid flat. After curing at room temperature for 24 hours, the film is obtained. This PDMS film is approximately 0.1 mm thick and has extremely high elasticity and rapid recovery ability, and can withstand a wide range of stretching and compression.

[0035] Of course, the shape of the rigid sheet 31 is not limited to a regular hexagon; other shapes that can achieve planar tiling or near-tiling, such as squares and equilateral triangles, can also achieve similar effects. The material of the rigid sheet 31 can also be replaced with other thin materials with a high stiffness-to-weight ratio, such as spring steel or polyimide. The elastic film 32 can also be replaced with other highly elastic polymer materials such as thermoplastic polyurethane film or natural rubber film.

[0036] It should be noted that the gap between each rigid sheet 31 is between 0 and 3 mm, and can be 0.5 mm, 1 mm, etc. The size of the gap determines its flexibility or rigidity under a specific negative pressure state.

[0037] The edges of any two adjacent rigid sheets 31 are arranged parallel to each other.

[0038] In some embodiments, the outer coating 20 is made of a biocompatible silicone material.

[0039] Since this device comes into direct contact with human skin, biocompatibility is crucial to ensuring user safety and preventing allergies or irritation. Silicone material not only possesses excellent biocompatibility but also exhibits high elasticity, aging resistance, and ease of molding. Using silicone as the outer coating layer 20 provides a safe, skin-friendly, and comfortable contact interface for the entire device. Furthermore, its high elasticity ensures that the outer coating layer 20 does not further restrict the overall flexibility and deformation of the device, and its inherent airtightness provides a fundamental guarantee for maintaining the stability of the internal vacuum environment.

[0040] Of course, other medical-grade elastomers can also be used for the outer coating layer 20, such as thermoplastic elastomers (TPE) or biocompatible polyurethane (PU) films.

[0041] In some embodiments, the circumscribed circle radius of the hexagonal rigid sheet 31 is 10 mm. The PDMS elastic film 32 is preferably a rectangular sheet of 160 mm × 62 mm, that is, multiple rigid sheets 31 are provided along both the width and length directions of the elastic film 32. After several layers of the above-mentioned rigid sheets 31 and PDMS film are alternately stacked, the periphery of the stack is bonded and fixed using high-adhesion fiber tape to form a variable stiffness layer 30 sample. Finally, the sample is placed in the outer covering layer 20 composed of upper and lower silicone films, and the edges of the upper and lower covering films are sealed again using fiber tape to form the final airtight structure.

[0042] In some embodiments, the rigid sheets 31 of different layers are staggered in the stacking direction. This design is an important mechanical optimization. If the rigid sheets 31 of each layer are perfectly aligned in the vertical direction, the gaps between the layers may extend vertically during bending, forming a structural "weak line" that could cause the device to yield or bend prematurely at that line. By staggering the sheets of different layers, it is equivalent to "stitching" the aforementioned potential weak line together in three-dimensional space. From a mechanical point of view, this is equivalent to achieving an interlocking effect similar to a brick wall structure within the material. When the device is subjected to load in the rigid state, the stress can be more evenly distributed throughout the structure through the staggered sheets, avoiding stress concentration, thereby significantly improving the overall structural stability and bending strength of the device in the rigid state, enabling it to withstand greater external forces.

[0043] The staggered arrangement pattern can be regular, such as the center of each layer of thin sheets being located at the center of the three adjacent thin sheets of the next layer (similar to a honeycomb structure); or it can be random staggered without any rules, as long as the upper and lower layers of thin sheets do not completely overlap.

[0044] In some embodiments, the outer covering layer 20 includes an upper and lower covering film stacked together, with their edges bonded together; that is, the sealing edge 21 in the figure is bonded together using an adhesive process. This structure provides a simple, reliable, and easy-to-manufacture sealing solution. By sandwiching the variable stiffness layer 30 between two independent films and then encapsulating them by edge bonding, a complete airtight space is constructed. This structure facilitates assembly and maintenance.

[0045] Of course, the outer covering layer 20 can also be a one-piece molded bag-shaped structure. After the variable stiffness layer 30 is inserted as a whole, the opening is then heat-pressed or sealed with adhesive. In addition, the edge bonding is not limited to a complete seal around the entire perimeter; an air extraction port can also be reserved and then specially sealed.

[0046] It should be noted that the elastic film 32 and the rigid sheet 31 can be fixedly connected, for example by bonding with an adhesive. This can prevent the equipment from being scrapped due to multiple rigid sheets 31 sliding to one side of the airtight space.

[0047] Of course, in some examples, the rigid sheet 31 can be fixed to the elastic film 32 by hot pressing or in-mold forming, thereby forming a rigid-flexible composite structure in the same layer.

[0048] In some embodiments, the flexible variable stiffness wearable force feedback device further includes a control system 50, which includes a vacuum pump 51, a vacuum gauge 54, and a pressure regulating valve. The vacuum pump 51 is used to evacuate the airtight space to create a negative pressure; the vacuum gauge 54 is used to detect the real-time pressure of the airtight space; and the pressure regulating valve is used to control the negative pressure intensity of the airtight space.

[0049] The control system 50 is key to achieving continuous and controllable stiffness adjustment. The vacuum pump 51, as the power source, provides the pressure difference needed to change the interlayer state. The vacuum gauge 54 enables real-time monitoring of the internal pressure, forming the sensing basis for precise control. The pressure regulating valve (especially the electronically controlled proportional valve) is the component that performs this precise control. Through this system, a specific target negative pressure value can be set as needed. The system drives the pressure regulating valve and vacuum pump 51 through closed-loop control (comparing the target value with the feedback value from the vacuum gauge 54), ultimately stabilizing the internal pressure at the target value. Since there is a direct correlation between interlayer friction and the negative pressure value, continuous, precise, and repeatable programmed control of the overall stiffness of the equipment is achieved, enabling the simulation of a wide variety of force sensations, from soft fabrics to hard wood.

[0050] In applications with less stringent requirements, a simple on / off valve 53 can be used as the pressure regulating valve. The vacuum source is not limited to the vacuum pump 51; in some one-off or short-term applications, a pre-evacuated vacuum storage tank can also be used.

[0051] In some embodiments, the control system 50 further includes a filter and a switching valve 53 disposed in the air passage (connected between the vacuum pump 51 and the airtight space). The filter is used to purify the air entering the pressure regulating valve and the vacuum pump 51, and the switching valve 53 is used to quickly release the negative pressure in the airtight space, allowing the device to quickly return to a soft state.

[0052] In some examples, the filter and pressure regulating valve are provided by an integrated filter pressure regulating valve 52.

[0053] In some examples, vacuum pump 51 is a turbine-type oil-free vacuum pump.

[0054] In some embodiments, an air passage pipe 40 is sandwiched between the edges of the upper and lower covering films, with one end of the air passage pipe 40 extending from between the upper and lower covering films.

[0055] This embodiment provides a highly reliable, integrated gas interface solution. From a sealing process perspective, the traditional approach involves first drilling holes in the encapsulated airbag, then bonding or embedding the gas connector. This post-processing is not only cumbersome, but more importantly, it easily creates stress concentration points and weak points in the seal at the junction of the connector and the flexible membrane, potentially leading to leakage due to repeated bending over long-term use. In this embodiment, the gas connector 40 is integrated into the structure. While the upper and lower membranes are edge-bonded and sealed, the connector 40 is simultaneously clamped and fixed inside the sealing edge 21. This design allows the gas connector 40 and the outer covering layer 20 to form an integral sealing structure. The bonding force between the pipe and the membrane is borne by the large bonding surface, rather than relying on a local bonding point, thereby greatly enhancing the mechanical strength and sealing reliability of the gas connection and improving product durability. Simultaneously, this solution simplifies the assembly process and improves production efficiency.

[0056] Example 2 The present invention also provides a control method for a flexible variable stiffness wearable force feedback device for embodiment one, comprising the following steps: changing the frictional force between the rigid sheet layer and the elastic film 32 by adjusting the air pressure of the airtight space, thereby realizing the change of the overall stiffness of the device.

[0057] This embodiment possesses all the advantages of Embodiment 1, and will not be repeated here.

[0058] In some embodiments, during the adjustment process, the pressure value of the airtight space of the equipment is monitored in real time by the vacuum gauge 54 to provide real-time feedback on its negative pressure value; the pressure regulating valve and / or vacuum pump 51 are adjusted according to the pressure value information to make the negative pressure inside the airtight space reach a predetermined value, thereby increasing the stiffness of the variable stiffness layer 30 by increasing the interlayer friction and realizing force feedback.

[0059] This step clarifies the specific means of achieving "precise control," namely, the introduction of pressure closed-loop control. By monitoring in real time and comparing with the target value, the system can automatically and promptly correct deviations (such as minor leaks). This feedback mechanism greatly ensures the accuracy and stability of stiffness output, avoiding performance drift caused by component differences, temperature changes, or minor leaks in open-loop control, and ensuring the consistency of force feedback experience every time. This is crucial for applications requiring high repeatability and precision (such as rehabilitation training).

[0060] Of course, in some examples, the control algorithm can be classic PID control, or more advanced fuzzy control, neural network control, etc., to adapt to the nonlinear characteristics of the system.

[0061] The specific manufacturing process of the flexible variable stiffness wearable force feedback device includes: First, the rigid sheet 31 and elastic film 32 used for the variable stiffness layer 30 are fabricated. The rigid sheet 31 is processed from 5052 aluminum alloy plate using laser cutting technology, and each sheet is a regular hexagon with an outer circle radius of 10mm. The PDMS elastic film 32 is mixed according to the formula, poured and cured to obtain a sheet with a size of approximately 160mm × 62mm and a thickness of 0.1mm. Then, several layers of rigid sheet 31 and PDMS film are alternately stacked, and finally, this multi-layer structure is placed inside the outer covering layer 20. The edges of the upper and lower covering films of the outer covering layer 20 are sealed with fiber tape to make the device airtight. After the entire assembly is completed, the inside of the device is connected to the vacuum pump 51 and the measuring device through the air passage pipe 40 to form a complete system.

[0062] During use, the vacuum pump 51 is operated by the drive control unit to adjust the internal air pressure, increasing the device's stiffness to simulate external forces. By releasing the gas pressure in time, the device can return to its initial soft state. The control method of this device is professional and accurate, realizing variable stiffness force feedback under negative pressure drive. Due to the use of an ultra-thin rigid sheet 31 and an elastic film structure, the device maintains a high degree of flexibility and comfort. The layered blocking stiffness adjustment method results in greater feedback force and faster response, significantly improving the realism and controllability of the feedback, making it suitable for various application scenarios such as virtual reality training, remote operation, and rehabilitation.

[0063] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A flexible variable stiffness wearable force feedback device, characterized in that: include: The outer coating is flexible and ductile, while the interior has an airtight space. An elastic film, having multiple layers, is disposed within the airtight space; A rigid sheet layer, comprising multiple layers, is disposed within the airtight space; each rigid sheet layer includes multiple rigid sheets; the rigid sheet layers and the elastic film are alternately stacked to form a variable stiffness layer; The overall stiffness of the device is changed by adjusting the air pressure in the airtight space to alter the friction between the rigid sheet layer and the elastic film.

2. The flexible variable stiffness wearable force feedback device according to claim 1, characterized in that: The multiple rigid sheets on the same elastic film are discretely distributed in a two-dimensional plane in a non-unidirectional manner.

3. The flexible variable stiffness wearable force feedback device according to claim 1, characterized in that: The rigid sheet has a regular hexagonal sheet structure, is made of 5052 aluminum alloy, and has a thickness of 0.2 mm; The elastic film is made of polydimethylsiloxane and has a thickness of 0.1 mm.

4. The flexible variable stiffness wearable force feedback device according to claim 1, characterized in that: The outer coating is made of biocompatible silicone material.

5. The flexible variable stiffness wearable force feedback device according to claim 1, characterized in that: The rigid sheets of different layers are staggered in the stacking direction.

6. The flexible variable stiffness wearable force feedback device according to claim 1, characterized in that: The outer covering layer includes an upper cover film and a lower cover film stacked together, and the edges of the upper cover film and the lower cover film are bonded and fixed.

7. The flexible variable stiffness wearable force feedback device according to claim 1, characterized in that: It also includes a control system, which includes: A vacuum pump is used to evacuate the air from the airtight space to create a negative pressure. A vacuum gauge is used to detect the real-time pressure of the airtight space; A pressure regulating valve is used to control the negative pressure intensity of the airtight space.

8. The flexible variable stiffness wearable force feedback device according to claim 6, characterized in that: An air passage connector is sandwiched between the edges of the upper and lower covering films, with one end of the air passage connector extending out from between the upper and lower covering films.

9. A control method for the flexible variable stiffness wearable force feedback device according to any one of claims 1-8, characterized in that, Includes the following steps: By adjusting the air pressure in the airtight space, the frictional force between the rigid sheet layer and the elastic film is changed, thereby achieving a change in the overall stiffness of the device.

10. The control method according to claim 9, characterized in that: During the adjustment process, the pressure value of the airtight space of the equipment is monitored in real time by a vacuum gauge to provide real-time feedback on its negative pressure value; the pressure regulating valve and / or vacuum pump are adjusted according to the pressure value information to make the negative pressure inside the airtight space reach a predetermined value, thereby increasing the stiffness of the variable stiffness layer by increasing the interlayer friction and realizing force feedback.

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