Exoskeleton control system, method, and robot

Abstract

This invention relates to the field of robotics, and more particularly to an exoskeleton control system, method, and robot. The system includes: an exoskeleton, a main control module, and a torque servo motor; the main control module receives force feedback information and generates a target output torque command; the torque servo motor integrates a DC motor, a current loop, a magnetic encoder, and a servo driver; the servo driver receives the target output torque command to generate an output torque; the magnetic encoder detects the angle information output by the DC motor in real time and feeds the angle information back to the servo driver to form a position inner loop; the servo driver, based on the current loop and the position inner loop, achieves force-position dual-loop control of the exoskeleton. This invention can dynamically utilize the current loop (force) and the position inner loop (position) to achieve force-position dual-loop control, realizing a two-way fusion of force feedback and active servoing, avoiding injury to humans and machines from rigid impacts, and improving the immersiveness and safety of remote operation.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an exoskeleton control system, method, and robot. Background Technology

[0002] With the development of embodied intelligence and humanoid robot technology, how to achieve natural, precise, and immersive control of remote robots by operators has become a core issue in the field of teleoperation.

[0003] In robotic teleoperation or virtual reality (VR) interaction, to provide operators with an immersive experience, exoskeleton devices typically need to provide physical contact force feedback from the remote or virtual environment. Traditional force feedback exoskeletons often fall into two extremes: one is that they only provide position control and lack force feedback, making it impossible for the operator to perceive the contact force; the other uses rigid torque control, which, while providing resistance, results in high resistance and poor follow-up during operator movement, and is prone to rigid impacts during collision feedback, lacking flexibility, leading to a poor user experience and even safety hazards. Therefore, there is an urgent need for an exoskeleton control system that can simultaneously provide force feedback and active follow-up. Summary of the Invention

[0004] Therefore, it is necessary to provide an exoskeleton control system, method, and robot to address the aforementioned technical problems and solve the issue of poor controllability in existing exoskeleton control systems, which leads to a poor user experience.

[0005] An exoskeleton control system, comprising: Exoskeleton and main control module and torque servo motor mounted on the exoskeleton; The main control module is used to receive force interaction information, process the force interaction information, and generate a target output torque command. The torque servo motor is installed at the joints of the exoskeleton and is communicatively connected to the main control module; the torque servo motor integrates a DC motor, a current loop, a magnetic encoder, and a servo driver. The servo driver is used to receive the target output torque command issued by the main control module, and control the winding current of the DC motor through the current loop to generate the output torque corresponding to the target output torque command; the output torque is transmitted to the operator's limbs through the exoskeleton; The magnetic encoder detects the angle information output by the DC motor in real time and feeds the angle information back to the servo driver to form a position inner loop; The servo driver is based on the current loop and the position inner loop to achieve dual-loop control of the exoskeleton's force and position.

[0006] An exoskeleton control method based on the above system includes: Under the aforementioned force-position dual-loop control When the operator moves actively, the magnetic encoder detects the first angle change information output by the DC motor and feeds back the first angle change information to the inner position loop. The inner position loop generates a following torque command based on the first angle change information and sends the following torque command to the current loop. The current loop controls the DC motor to output a following torque corresponding to the following torque command, so that the exoskeleton follows the operator's movement.

[0007] An exoskeleton control method based on the above system includes: Under the aforementioned force-position dual-loop control When force feedback is present, the current loop outputs resistance torque according to the torque command issued by the main control module; The inner ring of the position dynamically adjusts the resistance torque output by the current ring based on the second angle change information caused by the operator's resistance action.

[0008] A robot comprising the aforementioned exoskeleton control system.

[0009] The aforementioned exoskeleton control system, method, and robot dynamically utilize a current loop (force) and a position inner loop (position) based on the current interaction state to achieve force-position dual-loop control, resolving the contradiction of traditional exoskeletons where "force cannot be exerted, and movement cannot be exerted." It achieves a two-way fusion of force feedback and active follow-up, allowing the operator to feel realistic contact resistance while ensuring smooth interaction when encountering resistance, avoiding injury to the human-machine interface from rigid impacts, and greatly enhancing the immersion and safety of remote operation. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention 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.

[0011] Figure 1 This is a schematic diagram of an exoskeleton control system in one embodiment of the present invention.

[0012] Figure 2 This is a flowchart illustrating an exoskeleton control method in one embodiment of the present invention.

[0013] Figure 3 This is another flowchart illustrating the exoskeleton control method in one embodiment of the present invention. Detailed Implementation

[0014] 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, not all, of the embodiments of the present invention. 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.

[0015] In one embodiment, such as Figure 1 As shown, an exoskeleton control system is provided, including an exoskeleton, a main control module mounted on the exoskeleton, and a torque servo motor. Understandably, an exoskeleton is a mechanical structure worn outside an operator's limbs, with joint positions corresponding to human joints (such as the shoulder, elbow, wrist, and knee). In this invention, the exoskeleton serves as the physical medium for human-machine interaction, responsible for transmitting torque generated by the motor to the operator's limbs and for following the operator's active movements. The main control module is the "brain" of the exoskeleton system, employing a high-performance microprocessor (such as the STM32F407 series). The torque servo motor is a highly integrated power execution unit. Unlike traditional discrete drive systems, it encapsulates a DC motor, reducer, current loop, magnetic encoder, and servo driver within a very small volume and is directly mounted at the joints of the exoskeleton.

[0016] The main control module receives force interaction information, processes it, and generates a target output torque command. "Force interaction information" refers to digital signals (data packets) representing environmental contact forces fed back from the virtual physics engine or remote robot sensors; the "target output torque command" is the specific torque value that the main control module requires the motor to output after algorithmic calculation. Understandably, the main control module receives force interaction information in real time via a communication interface (such as Ethernet or bus). Upon receiving this information, the algorithm built into the main control module maps and scales it to a target output torque command suitable for the current exoskeleton joint motors and sends it to the underlying servo drivers. Here, the main control module achieves the conversion from "digital signal to mechanical torque command," shielding the differences in underlying hardware and enabling the exoskeleton to flexibly respond to force data from different sources (real remote or virtual reality), achieving accurate force intent interpretation.

[0017] The torque servo motor, located at the joints of the exoskeleton, is communicatively connected to the main control module. Internally, the torque servo motor integrates a DC motor, a current loop, a magnetic encoder, and a servo driver. The DC motor is used to convert electrical energy into mechanical energy, controlling the torque and rotation direction of the output shaft by changing the magnitude and direction of the current in the input windings. The current loop is the innermost closed loop in the servo control, typically operating at extremely high frequencies (e.g., above 10kHz). It samples the actual current in the motor windings and compares it with the target current, using a control algorithm to adjust the PWM (pulse width modulation) output in real time to ensure the actual current strictly follows the target current. The servo driver is a local controller within the torque servo motor, directly receiving commands from the main control module and responsible for coordinating and managing the current loop and the inner position loop.

[0018] The servo driver is used to receive the target output torque command issued by the main control module, and control the winding current of the DC motor through the current loop to generate the output torque corresponding to the target output torque command; the output torque is transmitted to the operator's limbs through the exoskeleton.

[0019] The magnetic encoder detects the angle information output by the DC motor in real time and feeds this angle information back to the servo driver, forming a position inner loop. Understandably, a magnetic encoder is a sensor that uses the principle of magnetic fields to detect rotational angles. It consists of a magnetic ring coaxially connected to the motor shaft and a fixed magnetic sensing chip. It detects the absolute angle change of the magnetic field in a non-contact manner and outputs a high-resolution digital signal. The position inner loop refers to the local position closed-loop control logic within the servo driver, based on the actual angle information fed back by the magnetic encoder. It should be understood that during the exoskeleton's operation, the magnetic encoder detects the angle information of the DC motor output shaft (i.e., the exoskeleton joint) in real time and feeds it back to the servo driver at high frequency. The servo driver compares this actual angle with the desired angle, generates an angle deviation, and thus forms the position inner loop.

[0020] The servo driver, based on the current loop and the inner position loop, achieves force-position dual-loop control of the exoskeleton. Understandably, force-position dual-loop control refers to the logical architecture of the servo driver coordinating the processing of the current loop (force) and the inner position loop (position) simultaneously. It is not a simple switching, but a dynamic coupling of the two. The servo driver can dynamically utilize these two loops according to the current interaction state.

[0021] Specifically, in the active follow-up scenario (without external force feedback): when the operator moves actively, the main control module does not issue torque commands (or the command is 0). The operator's limbs drive the exoskeleton to move, and the magnetic encoder detects the angle change. The position inner loop detects the operator's movement intention (the actual angle deviates from the desired angle), automatically generates a follow-up torque command based on the angle deviation, and sends it to the current loop. The current loop controls the motor to output torque in the same direction as the movement, counteracting the mechanical friction and inertia of the exoskeleton itself, thus achieving active follow-up.

[0022] Force feedback scenario (external force feedback present): When the main control module receives force feedback information and issues a target output torque command, the current loop controls the motor to output reverse torque to provide resistance. At this time, if the operator forcibly resists this resistance, it will cause a slight actual angle change in the joint. The position inner loop keenly captures this change and dynamically adjusts (fine-tunes) the torque output of the current loop, so that the resistance is no longer a rigid block, but a flexible resistance that allows for slight deformation.

[0023] Optionally, in one embodiment, the exoskeleton integrates multiple degrees of freedom sensing units. Understandably, a sensing unit refers to a hardware module capable of sensing mechanical motion and converting it into electrical / digital signals. In this invention, the sensing unit of the active force feedback joint may refer to a magnetic encoder integrated inside the torque servo motor, responsible for high-precision acquisition of the absolute angle of the joint. In delicate extremities such as the hand, the sensing unit may include a high-precision potentiometer and an ADC acquisition module. All these sensors distributed across the joints collectively constitute the exoskeleton's "sensory nervous system." The number of degrees of freedom of the exoskeleton determines the complexity of human movements it can capture and reproduce.

[0024] Optionally, in one embodiment, each arm of the exoskeleton is equipped with an active force feedback joint group; the active force feedback joint group includes at least one active force feedback joint.

[0025] Understandably, this invention incorporates 14 active degrees of freedom in the core area of ​​precise arm manipulation. Specifically, each arm is equipped with an active force feedback group, and each group comprises 7 active force feedback joints, totaling 14 active degrees of freedom (each active force feedback joint corresponds to one active degree of freedom). The 7 active force feedback joints include 3 joints in the shoulder (enabling three-dimensional rotation), 1 joint in the elbow (enabling flexion and extension), and 3 joints in the wrist (enabling yaw, pitch, and roll).

[0026] Optionally, in one embodiment, the active force feedback joint is provided with the torque servo.

[0027] Understandably, the active force feedback joint is equipped with a torque servo, which integrates a DC motor, current loop, magnetic encoder, and servo driver. Thus, when the operator's upper limbs move, the magnetic encoders at these 14 joints detect the absolute angle of the motor output shaft in real time in a non-contact manner. This angle data serves both as a feedback source for the inner position loop to achieve active homing and as raw data for collecting the operator's movement intentions.

[0028] Preferably, in order to efficiently aggregate the high-precision position data of these 14 joints, the magnetic encoders of all torque servos in this invention are connected in series in a tree-like chain via a three-wire serial bus.

[0029] Optionally, in one embodiment, the exoskeleton control system further includes a dexterous glove; understandably, a dexterous glove is a data acquisition terminal worn on the operator's hand. It is primarily used to capture complex skeletal movements of the human hand and is the core input source for controlling the dexterous hand of a remote robot during teleoperation. In addition to setting active degrees of freedom in the core area of ​​fine manipulation of the arms, this invention also sets multiple auxiliary degrees of freedom (e.g., 12 auxiliary degrees of freedom) in the core area of ​​fine manipulation of the hand. Thus, by setting multiple active degrees of freedom in the core area of ​​fine manipulation of the arms and multiple auxiliary degrees of freedom in the core area of ​​fine manipulation of the hand, this invention ensures complete capture of complex movements of the human upper limbs and hands. This allows any subtle movement of the operator to be accurately perceived by the sensing unit, providing a high-fidelity motion trajectory data source for the remote robot. Here, hand movements are captured by an independent dexterous glove.

[0030] The dexterous glove integrates multiple data acquisition channels; understandably, multiple data acquisition channels refer to hardware interface paths on the main control chip that can independently and in parallel read analog signals from multiple external sensors. In this invention, the data acquisition channel refers to a high-precision analog-to-digital converter (ADC) channel. Furthermore, the multi-channel design means that the system can simultaneously and synchronously read the movement states of multiple fingers without interference.

[0031] The data acquisition channel is connected to potentiometers installed on the knuckles or the side of the thumb to acquire hand data. Understandably, the dexterous glove integrates six high-precision ADC channels, each connected to a precision potentiometer installed on the knuckles closest to the palm and the side of the thumb. Thus, by placing potentiometers at key knuckles and the side of the thumb, and utilizing parallel acquisition through multiple channels, the subtle postural changes of complex and delicate hand movements such as grasping, holding, and pinching can be accurately reproduced, avoiding blind spots in end-effector motion capture and enabling the remote dexterous hand to reproduce high-fidelity operational intentions.

[0032] Preferably, the hand data is connected to the aforementioned three-wire serial bus as a node on the bus, and is packaged and transmitted together with the joint angle data to achieve unified aggregation of the entire arm data.

[0033] In one embodiment, such as Figure 2 As shown, the present invention also provides an exoskeleton control method based on the above system, under the force-position dual-loop control, S10. When the operator moves actively, the magnetic encoder detects the first angle change information output by the DC motor and feeds back the first angle change information to the inner position ring.

[0034] In a human-computer interaction system, active motion refers to the initial driving force of an action originating from the operator's (human's) muscle exertion, rather than from the active drive of an external motor. The operator changes their limb posture according to their own intention, thereby driving the exoskeleton's mechanical structure to move. The first angle change information refers to the data on the actual position offset and direction of movement of the motor output shaft (i.e., the joint shaft) collected in real time by the magnetic encoder when the operator moves the exoskeleton and the exoskeleton joints rotate. The inner position loop is a local closed-loop control logic integrated within the torque servo drive. It uses the actual angle fed back by the magnetic encoder as input, and through a built-in control algorithm (such as PID or proportional-derivative control), calculates the position deviation in real time and outputs the corresponding control quantity.

[0035] S20. The position inner loop generates a following torque command based on the first angle change information and sends the following torque command to the current loop. Understandably, the following torque command refers to a target torque value calculated by the position inner loop based on the first angle change information, designed to "follow" the operator's movement direction. Physically, it requires the motor to output a torque in the same direction as the operator's movement to overcome the mechanical resistance (such as gravity, friction, and inertia) of the exoskeleton itself. It should be understood that after receiving the first angle change information, the position inner loop determines that the operator has a movement intention. To eliminate the "dragging" and "heaviness" caused by the exoskeleton's mechanical structure, the position inner loop uses a control algorithm (e.g., based on the speed and amplitude of the angle change) to dynamically calculate the required motor compensation torque. Since the purpose of this torque is to follow the person's movement, a following torque command is generated and sent to the underlying current loop.

[0036] S30. The current loop controls the DC motor to output a following torque corresponding to the following torque command, so that the exoskeleton follows the operator's movement. Understandably, the following torque refers to the actual physical mechanical torque output by the DC motor after the current loop executes the following torque command. This torque "pushes" the exoskeleton to move according to the operator's intention. It should be understood that after receiving the following torque command, the current loop quickly converts it into a target current value and controls the winding current of the DC motor through high-frequency PWM, so that the motor outputs a following torque that precisely corresponds to the command. The direction of this following torque is consistent with the operator's movement direction, and its magnitude is sufficient to counteract the resistance of the exoskeleton itself.

[0037] In steps S10-S30, the position inner loop automatically calculates and initiates the following torque, and the exoskeleton motor actively exerts force to counteract its own gravity and mechanical friction. When the operator moves actively, only a minimal force is required to move the heavy robotic arm, greatly reducing the operator's physical exertion and providing a light experience "as if no equipment is being worn." This active following logic gives the exoskeleton the basic attribute of "obeying human commands." Only when the exoskeleton can smoothly and sensitively follow human movement can subsequent force-feedback interactions (pushing, pulling, resisting, and compliant adjustment) between the human and machine have the physical prerequisites and safety guarantees for implementation.

[0038] In one embodiment, such as Figure 3 As shown, the present invention also provides an exoskeleton control method based on the above system, under the force-position dual-loop control, S40. When force feedback is present, the current loop outputs resistance torque according to the torque command issued by the main control module.

[0039] In understandable terms, force feedback, in human-machine teleoperation, specifically refers to the process where, when a remote robot or an object in a virtual environment makes physical contact with the external environment, the system converts this contact force into a signal and transmits it back to the master unit, where it is then converted into a physical force perceptible to the operator by the exoskeleton motors. Torque command refers to the target torque value that the master control module generates after processing the received force feedback information using an algorithm, specifically requiring the exoskeleton joint motors to output. In force feedback scenarios, this command typically requires the motors to output torque in the opposite direction to the operator's movement. Drag torque refers to the mechanical torque actually output by the DC motor according to the torque command, designed to impede the operator's continued movement. It physically constructs the "boundary" of the virtual or remote environment.

[0040] S50. The inner position ring dynamically adjusts the resistance torque output by the current ring based on the second angle change information caused by the operator's resistance action.

[0041] Understandably, resistance refers to the limb behavior where, after sensing resistance torque, the operator does not stop moving but, out of instinct or operational need, applies greater force to attempt to overcome the current resistance and continue moving. The second angle change information refers to the positional offset and directional data detected in real-time by the magnetic encoder when the exoskeleton joints undergo a slight deflection due to the operator's resistance, under conditions of force feedback resistance. This differs from the "first angle change information" during active servoing; the angle change here occurs while the motor is outputting resistance. Dynamic adjustment refers to the process where the inner position loop intervenes in the force feedback process, using the second angle change information to perform real-time correction and superimposed control on the originally constant resistance torque of the current loop. Its purpose is to impart elastic or flexible characteristics to rigid resistance.

[0042] Specifically, when the remote robot touches an object, the main control module receives the force feedback signal, calculates it into a specific torque command, and sends it to the servo driver. At this time, the current loop, acting as the main control execution unit, strictly controls the DC motor winding current according to this command, causing the motor to output a corresponding resistance torque. This torque is in the opposite direction to the direction of the human hand's movement, thus physically "holding back" the operator, simulating the feeling of resistance when touching a wall or grasping an object. If only this step is used, the exoskeleton will be in a rigid, locked state.

[0043] During the period when the motor outputs resistance torque, the position inner loop is not closed but is in a real-time monitoring state. When the operator resists, the strong external force overcomes part of the motor resistance, causing a slight rotation of the exoskeleton joint. The magnetic encoder immediately captures this phenomenon, generates a second angle change information, and feeds it back to the position inner loop. After receiving this information, the position inner loop recognizes that the operator is "pushing hard." To avoid human-machine injury and a harsh feeling caused by rigid lock-up, the position inner loop activates a dynamic adjustment mechanism: it superimposes a compensating torque on the current loop according to the magnitude and speed of the angle deflection. For example, the greater the deflection, the greater the compensating resistance torque (simulating spring characteristics); or it allows the joint to "yield" within a certain range along with the pushing force, while dynamically increasing the damping. Through this mechanism, the current loop outputs no longer an unshakable fixed resistance, but a flexible resistance that dynamically changes with the degree of operator resistance.

[0044] In steps S40 and S50, the dynamic adjustment of the inner position ring breaks the "iron wall" feeling brought about by pure torque control. The system can simulate complex physical materials with elastic, viscous, or deformable characteristics (such as sponges, rubber, and springs), greatly improving the realism and immersion of the force feedback. When the operator applies a sudden resistance force, the inner position ring allows the exoskeleton to produce a slight displacement buffer, rather than rigid resistance. In this way, the impact force is effectively absorbed, avoiding the strain on the human musculoskeletal system caused by instantaneous peak torque, while also protecting the mechanical transmission structure and motor of the exoskeleton.

[0045] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0046] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0047] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0048] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An exoskeleton control system, characterized in that, include: Exoskeleton and main control module and torque servo motor mounted on the exoskeleton; The main control module is used to receive force interaction information, process the force interaction information, and generate a target output torque command. The torque servo motor is installed at the joints of the exoskeleton and is communicatively connected to the main control module; The torque servo motor integrates a DC motor, a current loop, a magnetic encoder, and a servo driver. The servo driver is used to receive the target output torque command issued by the main control module, and control the winding current of the DC motor through the current loop to generate the output torque corresponding to the target output torque command; The output torque is transmitted to the operator's limbs via the exoskeleton; The magnetic encoder detects the angle information output by the DC motor in real time and feeds the angle information back to the servo driver to form a position inner loop; The servo driver is based on the current loop and the position inner loop to achieve dual-loop control of the exoskeleton's force and position.

2. The exoskeleton control system as described in claim 1, characterized in that, The exoskeleton integrates multiple degrees of freedom sensing units.

3. The exoskeleton control system as described in claim 1, characterized in that, Each arm of the exoskeleton is equipped with an active force feedback joint assembly; the active force feedback joint assembly includes at least one active force feedback joint.

4. The exoskeleton control system as described in claim 3, characterized in that, The active force feedback joint is equipped with the torque servo motor.

5. The exoskeleton control system as described in claim 4, characterized in that, The magnetic encoders of all the torque servos are connected in series in a tree-like chain via a three-wire serial bus.

6. The exoskeleton control system as described in claim 1, characterized in that, The exoskeleton control system also includes dexterity gloves.

7. The exoskeleton control system as described in claim 6, characterized in that, The dexterous glove integrates multiple data acquisition channels; The data acquisition channel is connected to a potentiometer installed on the knuckle or thumb side to acquire hand data.

8. An exoskeleton control method based on the system according to any one of claims 1 to 7, characterized in that, Under the aforementioned force-position dual-loop control When the operator moves actively, the magnetic encoder detects the first angle change information output by the DC motor and feeds back the first angle change information to the inner position loop. The inner position loop generates a following torque command based on the first angle change information and sends the following torque command to the current loop. The current loop controls the DC motor to output a following torque corresponding to the following torque command, so that the exoskeleton follows the operator's movement.

9. An exoskeleton control method based on the system according to any one of claims 1 to 7, characterized in that, Under the aforementioned force-position dual-loop control When force feedback is present, the current loop outputs resistance torque according to the torque command issued by the main control module; The inner ring of the position dynamically adjusts the resistance torque output by the current ring based on the second angle change information caused by the operator's resistance action.

10. A robot, characterized in that, It includes an exoskeleton control system as described in any one of claims 1 to 7.

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