249 results about "Contact force" patented technology

The invention relates to the technical field of nano-probe detection, and particularly discloses a nano-probe test system for feeding back contact force in real time, comprising the following modules: a probe execution module comprising a nano-probe and a piezoelectric ceramic driver, the nano-probe realizing three-dimensional micro-displacement and establishing controllable contact with a wafer; the multi-dimensional signal sensing module is used for synchronously acquiring a contact resistance signal and a nanoprobe deformation signal; the data processing and control module is used for realizing signal analysis, force value calculation and driving control of a contact resistance signal and a nanoprobe deformation signal; the man-machine interaction module comprises a touch display screen and a real-time data recorder and is used for realizing visualization of force signals; the data processing and control module carries out cooperative analysis on the contact resistance signal and the nanoprobe deformation signal obtained by the multi-dimensional signal sensing module to obtain the real-time contact force of the nanoprobe and the wafer. The system solves the problem that a traditional nanoprobe detection system cannot feed back the contact force in real time.

The invention relates to a biomimetic robot control system based on digital human action mapping, in particular to the technical field of robot control, solves the problem that a biomimetic robot is difficult to perceive physical attributes only by means of vision, achieves accurate pre-judgment of contact force and material attributes by analyzing digital human fingertip microscopic color change and object texture deformation, and improves the accuracy of the biomimetic robot control system. A robot can establish an adaptive mechanical model before contact, the system dynamically adjusts the flexibility and damping of a mechanical arm according to the environment rigidity and friction characteristics, soft grabbing of hard objects and stable grabbing of sliding objects are achieved, the hysteresis quality of traditional feedback control is effectively overcome, meanwhile, the time sequence feed-forward and energy monitoring mechanism is combined, and the control precision is improved. Collision protection is provided while zero-delay synchronization of actions is ensured, and the operation stability and safety of the robot for fragile and flexible objects in a complex environment are remarkably improved.

The invention discloses a contact force field-based topological optimization design method for a detachable steel structure beam-column joint reinforcing member, which comprises the following steps of: (a) establishing an integral joint finite element model, defining a frictional contact relationship and carrying out nonlinear static analysis; (b) extracting node counter-force components on all contact surfaces and taking the node counter-force components as equivalent loads acting on a reinforcing component; (c) establishing a reinforcing member independent optimization model, applying an equivalent load and defining an inertia release boundary; (d) setting a design variable, a constraint condition and a target function of topological optimization, and solving; and (e) carrying out geometric reconstruction and performance verification on an optimization result. According to the method, a complex contact nonlinear problem is converted into a determined load boundary condition, an inertia release method is utilized to deal with a constraint problem in optimization ingeniously, an optimal topology result of the detachable reinforcing component is obtained finally, and the problem of optimization result distortion caused by the uncertain boundary condition is effectively avoided.

The invention discloses an intelligent control method for precise grinding of a robot, and the method comprises the steps: obtaining the information of a to-be-ground workpiece and initial grinding parameters, and the initial grinding parameters comprise the load gravity of the tail end of the robot; generating a target contact force based on the to-be-ground workpiece information and the initial grinding parameters; constructing a gravity compensation model through preset coordinate parameters based on the load gravity at the tail end of the robot; in the grinding process, grinding force data are collected in real time; on the basis of the grinding force data, actual contact force is obtained through a gravity compensation model; comparing the actual contact force with the target contact force to generate a contact force deviation and a deviation change rate; based on the contact force deviation and the deviation change rate, a force-position hybrid control instruction is output through a fuzzy PID controller; and on the basis of the force-position hybrid control instruction, control adjustment parameters of the robot are generated. By forming a complete intelligent control closed loop, constant-force grinding can be achieved, and the problems of uneven surface roughness, excessive grinding and the like are effectively solved.

The invention discloses a shaft hole assembly method and device and a medium, and the method comprises the steps: under the condition that a multi-shaft workpiece is in contact with a porous workpiece, executing the calculation operation of the deviation between a shaft in the multi-shaft workpiece and a corresponding hole in the porous workpiece, and obtaining the deviation; under the condition that the deviation is larger than the preset deviation, the mechanical arm is controlled to drive the multi-axis workpiece to move based on the deviation until the deviation is smaller than or equal to the preset deviation; the mechanical arm is controlled to drive the multi-axis workpiece to execute spiral hole searching operation till the actual contact force value of the contact face of the mechanical arm and the multi-axis workpiece is smaller than or equal to a fourth preset force value; under the condition that the actual contact force value of the contact face of the mechanical arm and the multi-axis workpiece is smaller than or equal to a fourth preset force value, the operation of determining the bottom center position of the shaft entering the hole in the multi-axis workpiece is executed; and the mechanical arm is controlled to drive the multi-axis workpiece to move on the set spherical surface until the contact component force value of the actual contact force of the contact surface of the mechanical arm and the multi-axis workpiece in the third direction is smaller than or equal to a third preset force value.

A force sensor comprising a contact arrangement for transmitting a contact force to a force sensor assembly. The force sensor assembly comprising a first sensor sensing, and producing an output from, a normal contact force component of the contact force; and a body moveable on transmission of the contact force to the force sensor assembly; and a second sensor for sensing, and producing an output from, a relative displacement of the body relative to the second sensor, the a tri-axis contact force being determined from the relative displacement.

The invention relates to a force control-based weld joint ultrasonic detection method for a pressure container, and solves the technical problem of how to improve the precision, stability and reliability of defect detection of a weld joint of the pressure container by a mechanical arm driving an ultrasonic probe. A zero drift value of a six-dimensional force sensor and gravity components of an ultrasonic probe in six dimensions are calculated, then actual contact force and actual contact torque are calculated, the actual contact force is input into an impedance control module, force position control of a mechanical arm is achieved, cooperative compliant control over the contact force and the pose of the probe is achieved, and the mechanical arm is controlled. And the detection stability and reliability of the surface and internal defects of the welding seam are obviously improved.

The invention relates to a mechanical arm disordered grabbing algorithm, and belongs to the technical field of robotics, and the method comprises the steps: firstly, obtaining a target material image and a point cloud sample, and training a multi-modal attention fusion perception model through sample enhancement processing and a difficult case mining mechanism after the target material image and the point cloud sample are labeled with categories, postures and grabbing areas; secondly, a mechanical arm obtains operation area data, the operation area data are input into a multi-modal attention fusion perception model to obtain initial attitude parameters, errors are corrected by combining with a visual data fusion calibration model, and the material stacking state is judged through a dynamic reference comparison method; thirdly, based on the correction parameters and the stacking state, an evaluation function is constructed to screen collision-free and stress-balanced grabbing points, and a collision-free path is planned by fusing kinematics constraints of the mechanical arm; and finally, the grabbing action is executed, the strength and the posture are adjusted in real time according to the contact force and the position deviation, the material stability is evaluated through vision after grabbing, and the stability and the operation efficiency of the mechanical arm in a complex disordered scene are improved.

The invention relates to the technical field of sidewall contact force control, and discloses a well wall sidewall contact force control method, which comprises the following steps of: acquiring fluid pressure gradient data, synchronously acquiring contact stress distribution of a working surface, performing synchronous association, acquiring associated data of time-space alignment, and performing fusion processing to eliminate irregular fluctuation; a smoothed pressure and stress correlation data set is obtained; the local stress concentration state is detected in real time, and a control instruction used for adjusting the displacement of the contact execution mechanism is generated; constructing a nonlinear relation model between a pressure and stress associated data set and contact force output, embedding a dynamic compensation mechanism, correcting and fusing the input real-time data to generate a collaborative feedback quantity, and adjusting the displacement of the contact execution mechanism in real time through the collaborative feedback quantity. And the response delay in the adjustment process is compared with a preset time range, and parameters of the dynamic compensation mechanism are adjusted according to a comparison result to form closed-loop control. According to the invention, high-precision and high-robustness control of the sidewall pushing force can be realized.

The invention relates to a constant-force grinding device and method based on gravity-elastic force dynamic balance, solves the problem of contact force fluctuation caused by blade profile deviation, actuating mechanism positioning error and grinding tool abrasion, and ensures that normal pressure is stabilized at a set threshold value in the polishing process. The device comprises a constant-force coil spring, a motor, a base, a limiting block, a linear guide rail, a balancing weight, a grinding wheel and a foundation frame. The linear guide rail in the vertical direction is installed on the foundation frame, the base is connected to the linear guide rail in a sliding mode and can move up and down on the linear guide rail, the motor is fixed to the base, the upper end of the constant-force coil spring is fixedly connected to the top of the foundation frame, and the lower end of the constant-force coil spring is connected with the base. The balancing weight is installed on the motor or the base, and the balancing weight requirement is calculated according to the target downward pressure F. The contact force stability is improved; the maintenance period is prolonged, and the constant-force floating structure does not need electrical maintenance.

The invention discloses a method for inhibiting fluttering of a thin-wall workpiece based on a follow-up supporting device, which comprises the following steps of: installing the follow-up supporting device, establishing initial normal contact between a rolling wheel in the follow-up supporting device and the back surface of the thin-wall workpiece and applying pre-tightening force to finish initial calibration of a contact state between the follow-up supporting device and the thin-wall workpiece; based on the contact state, a force sensor and a displacement sensor in the rolling wheel are used for collecting normal contact force and displacement signals; the control unit calculates a modal participation coefficient and a dynamic correction function according to the real-time signal to form a time-varying model of equivalent stiffness and damping of the thin-wall part, and a stepping motor in the follow-up supporting device drives a gear-rack mechanism to finely adjust the position of a rolling wheel, so that self-adaptive adjustment of the supporting force is realized; data recording and feedback optimization; and finishing processing and outputting parameters. The device has the advantages of real-time sensing, self-adaptive adjustment, measurable parameters, compact structure and the like, and the machining precision and the surface quality of the thin-walled workpiece are remarkably improved.

The invention relates to an exercise arrangement consisting of an exercise platform or a treadmill arrangement having integrated rollers and a walking surface on a circulating continuous belt or circulating slats, wherein the exercise platform or the treadmill arrangement is suspended on flexible oscillating elements in such a way that it is set in dominant vertical motion relative to a base structure by the contact force exerted by the user, wherein a push-on damping device is associated with the oscillating elements, with which the intensity of the movement deflection can be variably adjusted, or the frame is assigned push / pull elastic damping elements acting in the direction of travel and / or acting transverse to the direction of travel, and the push / pull elastic damping elements are each secured to the frame at one end and to the base structure at the other end.

This invention discloses a dexterous hand slip adaptive control method based on variable admittance observation, comprising: constructing equivalent Jacobian coefficients and calculating the physical velocity of the fingertips at the dexterous hand's end; when the detected normal contact force exceeds the trigger threshold, switching to a force-position hybrid control architecture, which employs an outer-loop variable admittance control combined with an inner-loop PID position tracking; in the outer-loop variable admittance control, the virtual mass and virtual damping of the variable admittance controller are dynamically adjusted through a variable admittance-regulated control law; when slip occurs, the target normal contact force required to maintain stability is recalculated through an adaptive force adjustment algorithm, and the target normal contact force is input as a new target force into the variable admittance controller, and stable grasping is reconstructed by dynamically adjusting the variable admittance parameters. This invention can effectively balance energy absorption during the collision phase and force tracking agility during the steady-state phase, while reducing the computational burden and enabling high-frequency real-time observation.

The invention provides a sealing assembly completion state solving method and device, and relates to the technical field of sealing element design. Comprising the following steps: acquiring geometric models of an elastic component and a matched component thereof, constructing an assembly initial configuration, performing finite element discretization on a sealing assembly system, and setting an integral point in the elastic component; in the assembly iteration process, corresponding projection points are determined based on the integration points and the component combination where the integration points are located, and the contact force at the integration points is calculated in combination with material parameters, the positions of the projection points and the surface geometric information of the matched components; and uniformly assembling the contact force and the internal elastic force generated by the elastic component under the current configuration into an overall force balance relationship for nonlinear iterative solution until a preset convergence condition is met, thereby obtaining a sealing assembly completion state. According to the method, the sealing assembly completion state can be stably solved under the condition that initial geometric interference exists, and the convergence and calculation stability of assembly simulation are improved by uniformly processing the contact force and the internal elastic force.

The application provides a control system for mechanical arm contact force zero steady-state error tracking, comprising: a collection device, a control device and an execution device; wherein the control device adopts a mobility controller fused with a reinforcement learning algorithm; the reinforcement learning algorithm obtains an expected position adjustment amount based on the actual contact force between the mechanical arm and the object, the actual position of the mechanical arm end and the force error between the actual contact force and the preset expected contact force collected by the collection device; and adjusts the preset expected position using the expected position adjustment amount; and the mobility controller outputs the updated position of the mechanical arm end according to the input force error after the expected position is adjusted. The application fuses the reinforcement learning into the mechanical arm contact force tracking system, not only ensures the rationality and accuracy of the expected position, but also realizes that the steady-state error of the system is 0, and ensures that the contact force between the mechanical arm and the object is equal to the set expected contact force.

The invention belongs to the technical field of nondestructive testing, and discloses a TOFD (Time of Flight Diffraction) probe with in-situ force sensing capability and a detection system. The ultrasonic probe main body is mounted on the first carrier, and the first carrier is made of a rigid material; a second carrier is mounted on one side, far away from the ultrasonic probe main body, of the first carrier and is made of an elastic material; the second carrier comprises a contact part used for contacting a measured object, and a deformation part used for generating elastic bending in response to the stress of the contact part is fixed on one side, far away from the measured object, of the contact part; the first carrier is provided with a first fiber bragg grating used for monitoring environment temperature changes. A second fiber bragg grating is arranged on the deformation part; the problems that in the prior art, in-situ, real-time and temperature-drift-resistant contact force accurate sensing and regulation of a TOFD probe in the detection process are difficult to achieve, and the automatic detection precision and reliability are limited are effectively solved.

The utility model discloses an earth excavation foundation pit protection device capable of being positioned and supported, and relates to the technical field of foundation pit protection devices, the earth excavation foundation pit protection device comprises a protection plate, fixed ground inserts, insertion blocks and splicing blocks, the fixed ground inserts are welded on the two sides of the bottom end of the protection plate, the two insertion blocks are fixed on one side of the protection plate, and the splicing blocks are fixed on the other side of the protection plate. And two splicing blocks are fixed on the other side of the protection plate. The adjusting rod is screwed to drive the moving plate to move horizontally, on one hand, the adjusting rod can extend out of the protection plate conveniently, so that the adjusting rod can be inserted into soil around a foundation pit to increase the contact force between the protection plate and the foundation pit, and on the other hand, the moving rod descends under the action of the push block and the sliding block, so that the foundation pit is protected. And thus, the descending block pushes the moving block to do horizontal movement, then the fixing rod can stretch out of the interior of the fixing ground insert conveniently, the soil grabbing capacity of the fixing ground insert is improved, and then the stability of the protection plate during use is improved.

The invention discloses a grinding wheel dressing device and method based on aluminum alloy hub grinding, and relates to the technical field of grinding equipment.The grinding wheel dressing device comprises a rack, a center shaft is rotationally connected to the circle center of the rack, a connecting shaft is fixedly connected to the interior of the center shaft, and an adjusting mechanism is arranged on the side, away from the center shaft, of the connecting shaft; a trigger mechanism is arranged on the side wall of the machine frame, a limiting mechanism is arranged in the machine frame, a supporting mechanism is arranged on the back face of the machine frame, the roller makes contact with the protrusion before the grinding wheel and is pressed, then the locking structure is triggered to be unlocked, at the moment, the edge of the grinding wheel can be warped up and shrunk inwards through the adjusting mechanism, and therefore the grinding wheel can be adjusted. The contact force with the protrusions is reduced, hard collision between the grinding wheel and the protrusions is avoided, the probability of edge breakage and abrasion of the grinding wheel is reduced, the service life of the grinding wheel is prolonged, meanwhile, scratches or excessive grinding caused by collision of the hub are prevented, and the machining yield of the hub is remarkably improved.

A tactile sensing system includes a compliant tactile sensor having a first compliant member and a sensing circuit arranged to detect and measure a response of the first compliant member to contact forces applied to the first compliant member. The tactile sensing system includes a sensor contact disposed adjacent to the first compliant member to mechanically engage and apply a first contact force to the first compliant member in response to a second contact force applied to the sensor contact.

The invention relates to the technical field of circumferential graphite sealing performance evaluation, in particular to a circumferential graphite sealing performance evaluation method and device, and the method comprises the steps: calculating the single interference amount of a single rough peak of a sealing ring; calculating a single contact force and a single contact area of a single rough peak, determining a contact factor of the end face of the sealing ring, and correcting the initial substrate deformation to obtain the substrate deformation based on the fluid-solid-heat-rough coupling effect; the final rough contour value of the end face of the sealing ring is calculated to obtain a corrected Reynolds equation, and the leakage rate of sealing is calculated; the corrected temperature distribution and the highest temperature are calculated; and generating a performance evaluation result meeting a certain condition. Therefore, the prominent problems of insufficient working condition coverage, inconformity between the model and the actual working condition, limited test verification, lack of multi-field coupling analysis and the like in related technologies are solved, and the problems that strict requirements on sealing reliability and service life prediction under harsh working conditions such as high speed and high temperature are difficult to meet and the like are solved.

This invention relates to a method for controlling the movement of a robotic arm along a set path, comprising the following steps: Step 1: Visually recognizing the positions of the actuator and the target object to obtain the position of the actuator's end effector and the target layer position of the target object; Step 2: Determining the entry position and controlling the actuator's end effector to reach the entry position; Step 3: Instructing the robotic arm to move the actuator along the set path within the target object, calculating the compensation depth of the actuator by detecting the force acting on the actuator, and instructing the actuator to perform the compensation depth movement; Step 4: After the actuator's end effector completes its movement, it exits along the original path. This invention addresses the problem of the actuator's inaccurate movement along the set path due to the contact force between the actuator and the target object. Position compensation is performed based on the resistance of the target object, allowing the actuator to move along the set path before performing the compensation position movement, thus enabling the actuator's end effector to more accurately reach the position point on the set path in each step.

The invention discloses a self-adaptive hybrid control grinding method and system for a steel rail welding seam. The method comprises the steps that a welding seam three-dimensional model is obtained through 3D vision, and material removal amount distribution is calculated; intelligent layered path planning is conducted based on the distribution, specifically, process threshold layering is set, section sampling is conducted to generate tool points, collision-free optimization is conducted, an initial polishing path is generated, and expected contact force is matched; in the polishing process, the contact force is collected in real time through a six-dimensional force sensor; feedforward control is carried out on the material removal amount based on visual prediction, feedback compensation is carried out through a fuzzy PID controller on the basis of force deviation fed back by a force sensor, motion parameters of the robot are dynamically adjusted, and double-layer self-adaptive control of visual intelligent planning and force control accurate execution is achieved. The system comprises corresponding modules. The problems that an existing method is poor in adaptability to geometric differences of the welding seams and lacks macroscopic planning are solved, and high-precision, high-efficiency and high-consistency automatic grinding of the steel rail welding seams is achieved.

The application discloses a shaft-hole assembly insertion method based on a gating cycle unit. The method classifies and predicts dynamic contact force with time sequence information in the shaft-hole assembly process based on a gating cycle network, and realizes the shaft-hole assembly insertion task of a base in an uncertain posture in combination with speed-based admittance control. Different contact states are mainly divided into eight categories, which are located on the coordinate axes and between the coordinate axes of a Cartesian coordinate system. The change process of each category of contact state is from the existence of a certain inclination posture difference between the shaft and the hole to the smooth insertion of the shaft into the hole. Based on the gating cycle unit method, the contact state recognition of eight different dynamic contact force sequences can be quickly realized. The application can realize the shaft-hole assembly task of the base in the uncertain posture, the dynamic contact force with the time sequence information can improve the accuracy of the contact state recognition, and the data-driven method can make it quickly migrate to other shaft-hole assembly platforms.

The invention relates to the technical field of hydraulic center frames, and provides a full-automatic hydraulic self-centering center frame and a using method thereof.The full-automatic hydraulic self-centering center frame comprises the hydraulic center frame, the hydraulic center frame is composed of a shell, a driving air cylinder, a clamping jaw, a rolling wheel, a limiting frame and a lifting frame, the clamping jaw is hinged to the limiting frame, the limiting frame is hinged to the lifting frame, and the rolling wheel is arranged on the shell; and rollers are mounted at the top end of the lifting frame and the top ends of the clamping jaws. Through the laser distance measuring sensor, the contour of a workpiece can be rapidly scanned, the actual diameter can be calculated, whether the workpiece is round and has obvious deformation or not can be verified in an auxiliary mode through the camera, the stroke extension of the clamping jaw is calculated according to the size of the workpiece, the driving air cylinder is started, the lifting frame drives the limiting frame to move, and the clamping jaw extends out; the pressure sensor feeds back the contact force in real time, when the preset clamping force threshold value is reached, the clamping jaw stops acting, the purpose of self-adaptive centering is achieved, and the situation that due to the fact that the clamping force cannot be adjusted in a self-adaptive mode, over-clamping deformation occurs is avoided.

A relay is to be improved with regard to shock and vibration resistance, bounce behavior, and contact resistance. This includes: - a body on whose surface a first contact is arranged; - a housing element with a first external contact arranged in the relay such that in a first position of the body the first external contact is in contact with the first contact of the body, wherein the first external contact is provided with a first pressure element which exerts a pressure force on the first external contact with a component in the direction of the body; wherein the body can be displaced into a second position in a direction orthogonal to the component of the contact force, in which the first contact and the first external contact are no longer connected, wherein the movement of the body between the first and second positions in a first direction is effected by magnetizing a first coil connected to the housing element and thereby inducing a magnetic force on a first ferromagnetic element connected to the body.

The present application relates to the field of polishing technology, and specifically to a four-degree-of-freedom floating polishing device, comprising: a fixing mechanism for connecting with the end of a mechanical arm; a movement mechanism arranged in the fixing mechanism for connecting a gas source to drive the rotation of a component; a supporting mechanism arranged between the fixing mechanism and the movement mechanism for supporting the movement mechanism, the movement mechanism can translate or deflect on the supporting mechanism to ensure the adhesion of the component to the surface of a workpiece; and a floating mechanism fixedly connected with the fixing mechanism for providing a floating force. The floating mechanism of the present application acts on the movement mechanism, and can realize the four-degree-of-freedom floating of the translation and deflection of the grinding wheel. The supporting mechanism provides support for the movement mechanism without affecting the floating degree of freedom. When the grinding wheel polishes the workpiece, the floating mechanism can provide a contact force for the grinding wheel, and the contact force is different due to the different floating amounts and floating air pressures.

This invention relates to a method for modeling the vibration of rolling bearings considering non-ideal Hertzian contact, belonging to the field of bearing vibration modeling technology, and includes the following steps: S1: Obtaining the basic geometric and material parameters of the rolling bearing; S2: Calculating the angular range of the load zone of the rolling bearing; S3: Calculating the geometric parameters of the contact between the rolling elements and the healthy raceway; S4: Calculating the mechanical parameters of the contact between the rolling elements and the healthy raceway; S5: Calculating the cage angular velocity parameters; S6: Calculating the angular position and angular velocity parameters of the rolling element's circumferential motion; S7: Calculating the deformation and contact force generated by all rolling elements in contact with the healthy raceway of the bearing; S8: Calculating the time-varying mechanical parameters implied by the contact between the rolling elements and the defect; S9: Dynamic modeling of the vibration excitation mechanism of the rolling bearing defect.

The present application relates to the technical field of general pile holding force, and proposes a floating platform and a structural pile holding force calculation method and a readable storage medium, which can efficiently and accurately calculate the general pile holding force, dynamically and accurately simulate the contact force and friction force between the clamping ring and the guide column in the three-dimensional space, and is suitable for various floating platforms and structures. The method comprises the following steps: S100: inputting the ring parameter, column parameter and friction parameter of the model structure; S200: calculating the contact force; S300: calculating the friction force; S400: outputting the pile holding force, which is further used for dynamic simulation.

Tribometer device (1000), preferably a rotary friction wear tribometer (1002) or an oscillating friction wear tribometer (1004), for determining at least one tribological quantity (GR) on an inner surface (2000) of a cylindrical component (2002), comprising: - a sample mandrel (1100) that can be inserted into the cylindrical component (2002) with at least one holder (1120) for a sample segment (1140), wherein - the holder (1120) is movable in a measuring direction (RM) towards the inner surface (2000) in order to keep the sample segment (1140) in contact (K) with the inner surface (2000), - a measuring instrument for the metrological recording of at least one tribological quantity (GR), characterized in that - the holder (1120) has a force sensor (1160) for measuring a contact force (FK) acting in the measuring direction (RM) between the sample segment (1140) and the inner surface (2000), wherein the contact force (FK) between the sample segment (1140) and the inner surface (2000) serves to determine the tribological quantity (GR), wherein - the tribometer device (1000) has a number of measuring elements (1430) each with a holder (1120), wherein each measuring element (1430) has a holder (1120) with the force sensor (1160) for a sample segment (1140), and the holder (1120) can be driven by an axially acting actuating means (1240), and - the tribometer device (1000) has a receptacle for the cylindrical component (2002), wherein the receptacle and the sample mandrel (1100) are rotatable relative to each other about a cylinder axis (AZ) of the cylindrical component (2002), and - the tribometer device (1000) has a control device (1400) with a controller (1420), designed to control the contact force (FK) to a target contact force (FKZ) with the actuating means (1240) as the actuating element) and the at least one force sensor (1160) as the measuring element (1430).

The invention discloses a rehabilitation robot auxiliary control system and method based on multi-modal perception, and belongs to the field of robot auxiliary rehabilitation and mobile support. The method comprises the following steps: acquiring and processing tactile interaction information between a user and a robot, and calculating contact force, torque and a contact position; in order to ensure stable and reliable support, centroid dynamics is used for modeling a human body state, and nonlinear model predictive control is used for optimizing a sequence of contact force and a contact position; inputting the contact force, the torque and the contact position into an admittance controller, generating a track adjustment amount, and performing adaptive correction on the reference track; solving a joint angular velocity control instruction of the robot by adopting a quadratic programming method; the joint position, the speed limit and the self-collision avoidance constraint are strictly included in the quadratic programming problem, and the safety of the whole interaction process is ensured. The walking ability can be remarkably improved, emergency situations such as falling down can be effectively handled, and the walking aid is particularly suitable for the field of elderly nursing.