A wearable cooperative control system and method for a micro magnetic control soft robot

Abstract

The application discloses a wearable cooperative control system and method of a micro magnetic control soft robot, which comprises a wearable control module and a robot driving module. The wearable control module adopts asymmetric two-hand cooperative design and comprises a right-hand dynamic control unit, a left-hand mode selection unit, a display unit and a central processing unit, which are used for collecting mode switching input information, forearm rotation posture data and finger flexion posture data. The robot driving module comprises a central control unit, an electromagnetic driving unit and a visual feedback unit. The central control unit maps the forearm rotation posture data into a magnetic field rotation axis azimuth control instruction and maps the finger flexion posture data into a magnetic field rotation frequency control instruction. The electromagnetic driving unit generates a rotating magnetic field to drive the robot movement. The visual feedback unit realizes closed-loop control. The application realizes independent adjustment of the movement direction and speed of the robot and can be applied to the fields of biomedical engineering and micro operation.

Description

Technical Field

[0001] This invention relates to the field of microrobot control and human-computer interaction technology, specifically to a wearable collaborative control system and method for a micro magnetically controlled soft robot. Background Technology

[0002] Miniature magnetically controlled soft robots, with their small size, high compliance, wireless actuation, and good biocompatibility, have become an important research direction in the field of micro-nano manipulation. However, how to achieve intuitive, precise, and flexible control of these robots remains a significant challenge restricting their practical application.

[0003] In existing technologies, controlling micro-robots using keyboards, joysticks, or preset trajectories often suffers from problems such as unintuitive interaction, insufficient real-time performance, and high learning costs. Operators often need a long period of training to complete complex control tasks and find it difficult to adapt to real-time adjustment needs in dynamic environments.

[0004] On the other hand, while some large force feedback devices or optical motion capture systems can provide high-precision interaction capabilities, they usually have problems such as large size, system complexity, and high deployment costs, making it difficult to meet the needs of lightweight, portable and flexible deployment in the control process of micro magnetically controlled soft robots.

[0005] In recent years, vision-based gesture recognition technology has begun to be applied in the field of robot control. For example, existing technologies can use cameras to capture hand gestures and identify corresponding control modes to switch robot functions. This type of solution improves the intuitiveness of interaction to some extent, but it usually relies on a fixed field of view and is easily affected by changes in lighting and environmental occlusion. It is difficult to achieve continuous and fine adjustment of parameters such as magnetic field direction and frequency, and therefore cannot meet the high-precision motion control requirements of micro-magnetically controlled soft robots at the microscale.

[0006] Therefore, existing technologies still lack a wearable collaborative control solution that can retain the advantages of cableless operation of micro magnetically controlled soft robots, provide an intuitive interaction method, and balance control precision and deployment flexibility. Summary of the Invention

[0007] The purpose of this invention is to provide a wearable collaborative control system and method for a micro magnetically controlled soft robot, so as to solve the problems of unintuitive control methods, insufficient control precision, and complex deployment of micro magnetically controlled soft robots in the prior art.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A wearable collaborative control system for a miniature magnetically controlled soft robot includes a wearable control module and a robot drive module.

[0010] The wearable control module is used to collect the operator's mode switching input information and posture action input information, and output the corresponding control information; the robot drive module is used to receive the control information and generate a drive magnetic field according to the control information to control the movement of the micro magnetic control soft robot.

[0011] Furthermore, the wearable control module includes a left-hand mode selection unit, a right-hand dynamic control unit, a display unit, and a central processing unit.

[0012] The right-hand dynamic control unit is used to collect the operator's forearm rotation posture data and finger flexion and extension posture data; the left-hand mode selection unit is used to output working mode switching instructions; the display unit is used to display the current working mode, control parameter information and system status; the central processing unit is used to connect the right-hand dynamic control unit, the left-hand mode selection unit and the display unit, and to process the collected data and send it to the robot drive module.

[0013] Furthermore, the robot drive module includes a central control unit, an electromagnetic drive unit, and a visual feedback unit.

[0014] The central control unit is used to receive and parse the data sent by the wearable control module, and map the forearm rotation posture data into magnetic field rotation axis azimuth control commands, and map the finger flexion and extension posture data into magnetic field rotation frequency control commands; the electromagnetic drive unit is used to generate a driving magnetic field according to the azimuth control commands and rotation frequency control commands; the visual feedback unit is used to detect the pose information of the micro magnetically controlled soft robot in real time and feed it back to the central control unit to achieve closed-loop control.

[0015] Furthermore, the wearable control module integrates two inertial measurement units, two physical buttons, a display screen, and a central processing unit; the robot drive module uses a PC as the central control unit and combines an NI controller, a power amplifier, and a three-axis orthogonal Helmholtz coil to form an electromagnetic drive unit; the visual feedback unit uses a high-speed industrial camera to acquire robot images in real time and extract pose information.

[0016] This invention also provides a wearable collaborative control method for a miniature magnetically controlled soft robot, applied to the aforementioned wearable collaborative control system, comprising the following steps:

[0017] S1. Collect the operator's forearm rotation posture data, finger flexion and extension posture data, and key input information in the current working mode, and send them to the robot drive module;

[0018] S2. Receive and parse the forearm rotation posture data, finger flexion and extension posture data and key input information, and generate corresponding control commands;

[0019] S3. Generate a magnetic field control signal according to the control command, and generate a driving magnetic field based on the magnetic field control signal to drive the movement of the micro magnetically controlled soft robot.

[0020] S4. Collect the pose information of the micro magnetically controlled soft robot, and correct the control command or magnetic field control signal according to the pose information to achieve closed-loop control.

[0021] Furthermore, the working modes in step S1 include preview mode, command lock mode and step mode. The working modes are switched by the physical buttons of the left-hand mode selection unit to realize the preview, latching and step adjustment of control commands.

[0022] Furthermore, in step S2, a dual-channel decoupled control method is adopted, which maps the forearm rotation posture data into magnetic field rotation axis azimuth control commands according to a first preset ratio, and maps the finger flexion and extension posture data into magnetic field rotation frequency control commands according to a second preset ratio, so as to realize independent adjustment of the motion direction and motion speed of the micro magnetic control soft robot.

[0023] Furthermore, in step S3, the PC generates a magnetic field control signal based on the magnetic field rotation axis azimuth control command and the magnetic field rotation frequency control command, and generates a spatial rotating magnetic field through the NI controller, power amplifier and triaxial orthogonal Helmholtz coil to drive the movement of the micro magnetically controlled soft robot.

[0024] Furthermore, in step S4, the visual feedback unit acquires robot images through a high-speed industrial camera and extracts the robot's centroid coordinates and heading angle information; the central control unit corrects the magnetic field rotation axis azimuth angle control command based on the deviation between the robot's actual pose and the desired path, thereby realizing closed-loop path tracking control.

[0025] Compared with existing technologies, this invention achieves independent adjustment of the movement direction and speed of a micro magnetically controlled soft robot through wearable two-handed collaborative interaction, and improves the intuitiveness of robot operation as well as the stability and accuracy of path tracking by combining visual feedback closed-loop control. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of a wearable collaborative control system for a micro magnetically controlled soft robot.

[0027] Figure 2 This is a schematic diagram of the wearable control module.

[0028] Figure 3 This is a circuit connection diagram for a wearable control module;

[0029] Figure 4 This is a schematic diagram of the robot drive module.

[0030] Figure 5 This is a flowchart illustrating a wearable collaborative control method.

[0031] Figure 6 This is a diagram illustrating the state transition of the working mode;

[0032] Figure 7 This is a schematic diagram of the visual feedback closed-loop control process;

[0033] Figure 8 This is a schematic diagram of the path tracking experiment results;

[0034] Figure 8 (a) is a schematic diagram of the results of the polygon path tracing experiment;

[0035] Figure 8 (b) is a path error curve of the polygon path tracking experiment;

[0036] Figure 8 (c) is a schematic diagram of the semicircular path tracking experiment results; Figure 8 (d) is the path error curve of the semicircular path tracking experiment. Detailed Implementation

[0037] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0038] This invention provides a wearable collaborative control system and method for a miniature magnetically controlled soft robot. For ease of explanation, the following description uses a magnetically controlled bipedal soft robot as the implementation object, but the control system and method described in this invention are also applicable to other types of miniature magnetically controlled soft robots, such as quadrupedal soft robots, frog-like soft robots, and snake-like soft robots.

[0039] In this embodiment, the micro-magnetically controlled soft robot can operate in a liquid surface environment, such as a 75% glycerol solution. The robot floats on the liquid surface under the combined effects of surface tension, buoyancy, and gravity, and moves under the drive of an external rotating magnetic field.

[0040] like Figure 1As shown, the wearable collaborative control system provided by the present invention includes a wearable control module and a robot drive module.

[0041] The wearable control module is used to collect the operator's mode switching input information and posture action input information, and output the corresponding control information; the robot drive module is used to receive the control information and generate a drive magnetic field according to the control information to control the movement of the micro magnetic control soft robot.

[0042] like Figure 2 and Figure 3 As shown, the wearable control module includes a right-hand dynamic control unit, a left-hand mode selection unit, a display unit, and a central processing unit.

[0043] The right-hand dynamic control unit is used to collect the operator's forearm rotation posture data and finger flexion and extension posture data; the left-hand mode selection unit is used to output working mode switching instructions; the display unit is used to display the current working mode, control parameter information and system status; the central processing unit is used to connect the various functional units, process the collected data, and send the processed data to the robot drive module.

[0044] In this embodiment, the right-hand dynamic control unit includes two inertial measurement units, wherein the first inertial measurement unit is fixed to the operator's forearm and is used to collect forearm rotation posture data; the second inertial measurement unit is fixed to the tip of the operator's index finger and is used to collect finger flexion and extension posture data.

[0045] The left-hand mode selection unit includes two physical buttons for outputting working mode switching commands.

[0046] The display unit uses a display screen to display the current working mode, control parameter information, and system status in real time.

[0047] The central processing unit is implemented using a microcontroller, such as an ESP32 microcontroller, to complete data acquisition, preprocessing, and wireless transmission.

[0048] like Figure 4 As shown, the robot drive module includes a central control unit, an electromagnetic drive unit, and a visual feedback unit.

[0049] The central control unit receives and parses data sent by the wearable control module, maps forearm rotation posture data to magnetic field rotation axis azimuth control commands, and maps finger flexion and extension posture data to magnetic field rotation frequency control commands. The electromagnetic drive unit generates a driving magnetic field according to the azimuth control commands and rotation frequency control commands. The visual feedback unit detects the pose information of the micro magnetically controlled soft robot in real time and feeds the pose information back to the central control unit to achieve closed-loop control.

[0050] In this embodiment, the central control unit is implemented using a PC. It is used to receive and parse forearm rotation posture data, finger flexion and extension posture data, and key input information sent by the wearable control module, and generate corresponding magnetic field control signals based on the parsing results.

[0051] The electromagnetic drive unit includes an NI controller, a power amplifier, and a triaxial orthogonal Helmholtz coil. The NI controller generates a drive signal based on the magnetic field control signal output by the central control unit. The power amplifier amplifies the drive signal. The triaxial orthogonal Helmholtz coil generates a spatial rotating magnetic field in the central working area to drive the movement of the micro magnetically controlled soft robot.

[0052] The visual feedback unit is implemented using a high-speed industrial camera to acquire robot motion images in real time and extract the robot's center of mass coordinates and heading angle information to obtain the robot's actual pose information.

[0053] like Figure 5 As shown, the wearable collaborative control method provided by the present invention includes the following steps:

[0054] Step S1: Collect the operator's forearm rotation posture data, finger flexion and extension posture data, and key input information in the current working mode, and send them to the robot drive module.

[0055] In this step, the wearable control module adopts a left-right hand cooperative operation mode, where the left hand is used to output working mode switching commands through physical buttons, and the right hand is used to collect forearm rotation posture data and finger flexion and extension posture data; after the central processing unit preprocesses the collected data, it sends it to the robot drive module through wireless communication.

[0056] Step S2: Receive and parse the forearm rotation posture data, finger flexion and extension posture data, and key input information to generate corresponding control commands.

[0057] In this step, the central control unit receives data sent by the wearable control module and maps the forearm rotation posture data into magnetic field rotation axis azimuth control commands and the finger flexion and extension posture data into magnetic field rotation frequency control commands through a dual-channel decoupling mapping method, thereby realizing independent adjustment of the movement direction and speed of the micro magnetic control soft robot.

[0058] Step S3: Generate a magnetic field control signal according to the control command, and generate a driving magnetic field based on the magnetic field control signal to drive the movement of the micro magnetically controlled soft robot.

[0059] In this step, the PC generates a magnetic field control signal based on the magnetic field rotation axis azimuth control command and the magnetic field rotation frequency control command, and sends the magnetic field control signal to the NI controller; the NI controller generates a drive signal based on the received magnetic field control signal, and sends the drive signal to the power amplifier; the power amplifier amplifies the drive signal and outputs a drive current to drive the triaxial orthogonal Helmholtz coil to generate a uniform rotating magnetic field in the central working area, thereby driving the micro magnetically controlled soft robot to move.

[0060] Step S4: Collect the pose information of the micro magnetically controlled soft robot, and correct the control command or magnetic field control signal according to the pose information to achieve closed-loop control.

[0061] In this step, the visual feedback unit acquires motion images of the miniature magnetically controlled soft robot in real time using a high-speed industrial camera, and extracts the robot's center of mass coordinates and heading angle information. The acquired image information is fed back to the PC, which calculates the positional deviation between the robot's actual pose and the desired path, and corrects the magnetic field rotation axis azimuth angle control command to form a closed-loop control, thereby realizing real-time adjustment and stable tracking of the miniature magnetically controlled soft robot's motion trajectory.

[0062] To achieve flexible adjustment of the motion direction and speed of the micro-magnetically controlled soft robot, the central control unit maintains the same finite state machine for both the direction control channel and the speed control channel, and their state transition relationships are as follows: Figure 6 As shown. The finite state machine includes a preview mode, an instruction lock mode, and an offline stepping mode. The operating mode is switched via a physical button on the left-hand mode selection unit.

[0063] The preview mode is the system default. In preview mode, the output control command remains at the historical latched value, and the display unit displays the value of the control command to be output corresponding to the current gesture in real time. The micro magnetically controlled soft robot operates according to the control command corresponding to the historical latched value. This mode is mainly used by the operator to preview the control parameters corresponding to the current gesture without immediately changing the robot's motion state.

[0064] When the system detects a double-click event on the left-hand button in preview mode, it enters command lock mode. In this mode, the control parameters corresponding to the current gesture are latched and used as output control commands, and the robot continues to move according to these latched commands. When the system detects another double-click event in command lock mode, it returns to preview mode, at which point the output control commands remain unchanged from the currently latched values.

[0065] When the system detects a left-hand button click event in preview mode, it enters discrete stepping mode. In this mode, the system uses the current latch value as a baseline. Each time the operator completes a swing-and-reset gesture, the step counter increments or decrements by a set step size, thus discretely adjusting the control commands for the corresponding channel. When the system detects another click event in discrete stepping mode, it outputs the accumulated step value and returns to preview mode.

[0066] In this embodiment, the command locking mode and the discrete stepping mode can be used in combination. Specifically, the operator can first lock an initial control command through the command locking mode, then switch to the discrete stepping mode, and increase or decrease the step based on the initial control command, thereby realizing discrete adjustment of the movement direction or speed of the micro magnetically controlled soft robot.

[0067] To improve the motion accuracy and stability of the miniature magnetically controlled soft robot on complex paths, this embodiment adopts a visual feedback closed-loop control process, the process of which is as follows: Figure 7 As shown.

[0068] Specifically, the PC acts as the central control unit, generating a magnetic field control signal based on control commands input by the operator through the wearable control module, and sending the magnetic field control signal to the NI controller. The NI controller generates a drive signal based on the received magnetic field control signal and outputs the drive signal to a power amplifier. The power amplifier amplifies the drive signal and outputs a drive current to drive a triaxial orthogonal Helmholtz coil to generate a spatial rotating magnetic field in the central working area, thereby driving the movement of the micro magnetically controlled soft robot.

[0069] During robot movement, the visual feedback unit acquires real-time images of the robot's motion using a high-speed industrial camera. Image processing is then used to extract the robot's center of mass coordinates and heading angle to obtain its actual pose. The acquired image information is fed back to the PC in real time. The central control unit calculates the deviation between the robot's actual pose and the desired path, and uses a line-of-sight guidance algorithm combined with a proportional-integral-derivative (PID) controller to generate angle compensation.

[0070] In this embodiment, the angle compensation is superimposed on the magnetic field rotation axis azimuth control command, thereby correcting the control signal in real time and forming a visual feedback closed-loop control. Through the above closed-loop control process, the system can adjust the motion trajectory of the micro magnetically controlled soft robot in real time, reduce accumulated errors, and improve path tracking stability.

[0071] To verify the feasibility of the wearable cooperative control method described in this invention in path tracking of a micro magnetically controlled soft robot, this embodiment conducts a path tracking experiment in closed-loop control mode. The experimental subject is a magnetically controlled bipedal soft robot, which moves in a glycerol solution environment. A spatial rotating magnetic field is generated by a three-axis orthogonal Helmholtz coil system to drive the robot. At the same time, a visual feedback system is used to acquire the robot's pose information in real time, and the robot's motion state is dynamically corrected through a closed-loop control algorithm.

[0072] like Figure 8 (a) and Figure 8 As shown in (b), in the polygonal path tracking experiment, the system pre-sets the robot's motion path. The operator adjusts the magnetic field rotation direction and frequency through a wearable control module, enabling the robot to sequentially complete path movements in multiple directions. During this experiment, a command lock mode is used to control the robot's motion direction. Specifically, the operator enters the command lock mode by double-clicking the left-hand button. The system locks the magnetic field rotation axis azimuth control command corresponding to the current forearm rotation posture, thus setting a fixed motion direction for the robot, allowing it to move along a predetermined straight path. When a change in motion direction is needed, the operator can adjust the forearm posture and re-lock the mode to achieve path steering control.

[0073] During polygonal path tracking, the robot's motion state can be adjusted by changing the magnetic field rotation frequency. In this embodiment, different path segments are driven by different magnetic field rotation frequencies, for example... Figure 8 (a) shows f=5Hz, f=6Hz, f=7Hz, f=8Hz, and f=9Hz to accommodate motion requirements at different stages. During the experiment, the visual feedback system recorded the robot's motion trajectory in real time and calculated the deviation of the actual trajectory from the planned path. Figure 8 As shown in (b), the path error changes with the motion process. This experimental result demonstrates that the cooperative control method described in this invention can be used to achieve closed-loop tracking control of a micro-magnetically controlled soft robot in multi-directional paths. In this embodiment, the overall path error remains within a small range, for example, it can be controlled to approximately ±0.1 mm.

[0074] like Figure 8 (c) and Figure 8As shown in (d), in the semi-circular path tracking experiment, the system sets a semi-circular trajectory as the planned path and uses a control method combining command lock mode and discrete stepping mode to achieve curved path tracking. Specifically, the operator first sets the robot's initial movement direction through command lock mode, causing the robot to enter the planned path; during the robot's movement, when it is necessary to change the movement direction, the operator enters discrete stepping mode by clicking the left-hand button. In this mode, each time a swing-reset gesture is completed, the system adjusts the direction of the magnetic field rotation axis according to a preset angle increment, thereby changing the robot's movement direction and enabling the robot to gradually complete the turning movement of the semi-circular trajectory. In this embodiment, the preset angle increment is 10°.

[0075] In the semi-circular path tracking experiment, the robot's speed is adjusted and maintained by the magnetic field rotation frequency. In this embodiment, the robot completes approximately one-quarter of a circular path movement using a magnetic field rotation frequency of f = 6Hz in the first stage, and then uses a magnetic field rotation frequency of f = 9Hz in the second stage to adapt to the path tracking requirements at different stages. The visual feedback system records the robot's actual trajectory and calculates the deviation of the actual trajectory from the planned path. Figure 8 As shown in (d), the path error changes with the motion process. This experimental result demonstrates that the cooperative control method described in this invention can be used to achieve closed-loop tracking control of a micro-magnetically controlled soft robot on a curved path. In this embodiment, the overall path error remains within a small range, for example, it can be controlled to approximately ±0.1 mm.

[0076] The above experiments demonstrate that the wearable collaborative control method proposed in this invention can adjust the motion direction and speed of a micro magnetically controlled soft robot, and achieve real-time correction of the robot's motion state under the action of visual feedback closed-loop control, thus making it suitable for motion control and path tracking under various path conditions.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, all modifications, equivalent substitutions, or improvements made without departing from the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wearable collaborative control system for a miniature magnetically controlled soft robot, characterized in that, Includes wearable control modules and robot drive modules; The wearable control module is used to collect the operator's mode switching input information and posture action input information, and output the corresponding control information. The robot drive module is used to receive the control information and generate a drive magnetic field according to the control information to control the movement of the micro magnetic control soft robot.

2. The wearable collaborative control system for the micro magnetically controlled soft robot according to claim 1, characterized in that, The wearable control module includes a left-hand mode selection unit, a right-hand dynamic control unit, a display unit, and a central processing unit; the robot drive module includes a central control unit, an electromagnetic drive unit, and a visual feedback unit. The right-hand dynamic control unit includes a first inertial measurement unit and a second inertial measurement unit, which are used to collect the operator's forearm rotation posture data and finger flexion and extension posture data, respectively. The left-hand mode selection unit includes a physical button component for outputting working mode switching commands; The display unit is used to display the current working mode, control parameter information, and system status; The central processing unit is used to connect the right-hand dynamic control unit, the left-hand mode selection unit, and the display unit, and processes the collected data before sending it to the robot drive module. The central control unit is used to map the forearm rotation posture data into magnetic field rotation axis azimuth control commands, and to map the finger flexion and extension posture data into magnetic field rotation frequency control commands. The electromagnetic drive unit is used to generate a driving magnetic field according to the azimuth control command and the rotation frequency control command. The visual feedback unit is used to detect the pose information of the micro magnetically controlled soft robot in real time and feed it back to the central control unit.

3. A wearable collaborative control method for a micro magnetically controlled soft robot, characterized in that, A wearable collaborative control system applied to the micro magnetically controlled soft robot of claim 1 or 2 includes the following steps: S1. Collect the operator's forearm rotation posture data, finger flexion and extension posture data, and key input information in the current working mode, and send them to the robot drive module; S2. The robot drive module receives and parses the forearm rotation posture data, finger flexion and extension posture data, and key input information to generate corresponding control commands. S3. Generate a magnetic field control signal according to the control command, and generate a driving magnetic field based on the magnetic field control signal to drive the movement of the micro magnetically controlled soft robot. S4. Collect the pose information of the micro magnetically controlled soft robot, and correct the control command or magnetic field control signal according to the pose information to achieve closed-loop control.

4. The wearable collaborative control method for a micro magnetically controlled soft robot according to claim 3, characterized in that, The working modes mentioned in step S1 include preview mode, command lock mode, and offline walking mode. These working modes are switched using two physical buttons on the left-hand mode selection unit. The switching relationships include: In preview mode, the system is in the default state, the output control command is kept as the historical latch value, the display unit displays the value of the control command to be output corresponding to the current gesture in real time, and the micro magnetic control soft robot runs according to the control command corresponding to the historical latch value; When the system detects a double-click event on the left-hand button in preview mode, the system enters command lock mode, where the control parameters corresponding to the current gesture are latched and used as output control commands; when a double-click event is detected again, the system returns to preview mode. When the system detects a left-hand button click event in preview mode, the system enters discrete step mode and uses the latched value as a reference. Each time the operator completes a swing-and-reset gesture, the step counter increases or decreases according to the set step size. When a click event is detected again, the system outputs the cumulative step value and returns to preview mode. After latching the initial control command, the system can switch from command locking mode to discrete stepping mode, and increase or decrease the step based on the initial control command to achieve discrete adjustment of the motion direction or speed of the micro magnetic control soft robot.

5. The wearable collaborative control method for a micro magnetically controlled soft robot according to claim 3, characterized in that, In step S1, a wearable control module is used for coordinated operation of the left and right hands. The left hand switches between different working modes through physical buttons, and the right hand collects forearm rotation posture data and finger flexion and extension posture data in the corresponding working mode. The central processing unit sends the detected forearm rotation posture data and finger flexion and extension posture data to the robot drive module through wireless communication. In step S2, the central control unit receives and parses the forearm rotation posture data and finger flexion and extension posture data via wireless communication. The dual-channel decoupling control module maps the forearm rotation posture data into a magnetic field rotation axis azimuth angle control command according to a first preset ratio, and maps the finger flexion and extension posture data into a magnetic field rotation frequency control command according to a second preset ratio.

6. The wearable collaborative control method for a micro magnetically controlled soft robot according to claim 3, characterized in that, In step S3, the PC generates a magnetic field control signal based on the magnetic field rotation axis azimuth control command and the magnetic field rotation frequency control command, and sends the magnetic field control signal to the NI controller; the NI controller generates a drive signal based on the received magnetic field control signal, and sends the drive signal to the power amplifier; the power amplifier amplifies the drive signal and outputs a drive current to drive the triaxial orthogonal Helmholtz coil to generate a uniform rotating magnetic field in the central working area, thereby driving the micro magnetically controlled soft robot to move.

7. The wearable collaborative control method for a micro magnetically controlled soft robot according to claim 3, characterized in that, In step S4, a high-speed industrial camera acquires real-time images of the movement process of the micro magnetically controlled soft robot and extracts the robot's centroid coordinates and heading angle information. The acquired image information is fed back to the PC. The PC calculates the positional deviation between the robot's actual pose and the desired path and corrects the azimuth angle control command of the magnetic field rotation axis, thereby forming a closed-loop control to achieve real-time adjustment and stable tracking of the micro magnetically controlled soft robot's motion trajectory.

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