267 results about "Interaction forces" patented technology

The invention discloses a force / position hybrid control method for a dexterous arm-hand robot, and aims to improve the tracking precision and flexibility of a high-degree-of-freedom robot in a complex interaction task. The method comprises the following steps: constructing a complete kinematics and dynamics model; designing a self-adaptive sliding mode impedance controller, converting an impedance equation into a system taking interaction force as a state, and introducing a sliding mode variable to realize stable tracking of expected force; a preset performance boundary function and a synchronization error are introduced to realize cooperative control and performance constraint; and finally, a force / position hybrid control structure is constructed, the outer ring adjusts the expected trajectory, the inner ring achieves accurate tracking, and therefore smooth interaction between the robot and the complex environment is achieved. The method has good robustness and adaptability, and is suitable for tasks such as grabbing and operation.

Disclosed are a method and system for controlling a robotic arm pressing force based on a pulse wave signal. The method comprises: acquiring a pulse wave signal of a target; acquiring an interaction force between an end of a robotic arm and the target, and determining an expected pressing force according to a mapping relation between a pressing effect and the pulse wave signal; establishing an admittance control model to convert the expected pressing force into an expected trajectory of the robotic arm; and determining, on the basis of an error between an actual trajectory and the expected trajectory of the robotic arm, a control quantity of the subsequent movement of the robotic arm by using a PID controller, so as to achieve the tracking of the expected trajectory. The present invention achieves a low-impedance and compliant interaction effect when the target of pressing is moving.

The invention provides a clamping-driving-wrist multi-dimensional force optical fiber self-decoupling sensing device and method, and relates to the field of multi-dimensional force optical fiber sensing detection.The device comprises a clamp head, a clamp wrist, a clamp tail and a movable arm mechanism which are fixedly connected in sequence; the force sensing driving mechanism is connected with the clamp head and drives the clamp head to be opened and closed to measure driving force; a wrist three-dimensional force sensing mechanism is arranged at the wrist part of the clamp and is used for measuring resultant force formed by three-dimensional interaction force during cavity tissue interaction and driving force transmitted to the wrist part of the clamp by the head part of the clamp; a clamping force sensing mechanism is arranged in the clamp head, and the resultant force formed by the three-dimensional interaction force and the clamping force when the clamping force sensing mechanism interacts with the cavity tissue is measured; an angle adjusting mechanism is arranged in the movable arm mechanism, drives the movable arm mechanism to bend or unbend and senses a resultant force formed by a three-dimensional interaction force, a clamping force and a lifting force in a cavity tissue lifting state; according to the invention, the multi-dimensional force is measured, and an accurate result is obtained through decoupling.

The invention provides an optical fiber force-shape sensing device and method through a natural orifice, and relates to the technical field of optical fiber sensing, the device comprises an operation arm mechanism, and specifically comprises a front end connecting joint, a plurality of movable joints and a tail end connecting joint which are sequentially and rotatably connected through a ball head and a ball socket, at least one limiting bulge is distributed on the circumferential surface of the ball head, and the limiting bulge is connected with the front end connecting joint; limiting grooves in one-to-one correspondence with the limiting protrusions are formed in the ball socket, and the limiting protrusions are in sliding fit with the limiting grooves so as to limit in-situ torsion between the adjacent joints. Through mutual cooperation of the limiting grooves and the limiting protrusions, in-situ torsion is reduced, torsional strength is improved, a shape-following embedded optical fiber sensor integration method is provided, shape reconstruction errors caused by movement dislocation are reduced, and protection of optical fibers is achieved. A first driving wire, four second driving wires, two optical fiber shape sensing modules and four optical fiber force sensing modules are embedded in the operation arm mechanism, and real-time accurate measurement of interaction force and the bending shape of the operation arm mechanism can be achieved.

Provided is a robot teaching device including an end effector that can be intuitively operated by a teacher, and the robot teaching device can accurately measure an interaction force between the end effector and a work object.In a robot teaching device 5 including a first end effector 1 that is gripped and operated by a teacher, the first end effector 1 includes a first claw portion 10 capable of switching between an openable and closable state and an opening-closing fixing state, a handle 12, and a first force sensor 11 that measures a force and torque between the first claw portion 10 and the handle 12, and generates teaching data based on an output of the first force sensor 11 when the first claw portion 10 is in the opening-closing fixing state and the handle 12 is gripped by the teacher.

The technology disclosed relates to using virtual attraction between hand or other control object in a three-dimensional (3D) sensory space and a virtual object in a virtual space. In particular, it relates to defining a virtual attraction zone of a hand or other control object that is tracked in a three-dimensional (3D) sensory space and generating one or more interaction forces between the control object and a virtual object in a virtual space that cause motion of the virtual object responsive to proximity of the control object to the virtual object and escalation with a virtual pinch or grasp action of the control object directed to a manipulation point of the virtual object.

The invention discloses a virtual simulation teaching method, device and equipment for cattle pregnancy diagnosis, and the method comprises the steps: constructing a three-dimensional geometric model of a cattle pelvic cavity anatomical structure, obtaining a cattle pelvic cavity model, configuring corresponding physical attribute parameters, and generating a virtual anatomical environment; receiving palpation operation of a user through force feedback equipment, driving a virtual fingertip to move in a virtual anatomy environment, and collecting user interaction data in real time; based on the motion, the operation pressure and the physical attribute parameters of the virtual fingertip, calculating an interaction force of an anatomical structure on the virtual fingertip through soft tissue physical simulation, generating a tactile feedback signal according to the interaction force, and outputting the tactile feedback signal to a user through force feedback equipment; comparing the operation track with an expert standard operation model, and guiding an operation path of the user in real time through force feedback equipment according to a comparison result; and performing skill assessment according to the diagnosis conclusion submitted by the user after completing the palpation operation and the user interaction data, and generating a diagnosis practical training report.

The invention relates to the field of collaborative robot control, in particular to an active compliant interaction control method and system for a collaborative robot without a force sensor. According to the method, the man-machine interaction force is estimated in real time through the interaction force estimation system, additional sensors are not needed, and the hardware cost is reduced; solving an optimal impedance model through strategy iteration by using an impedance model optimization system to adapt to an uncertain interaction environment; and the reference trajectory of the robot is corrected through the active compliant interaction control system, so that accurate and reliable compliant control is realized. According to the main scheme, the method comprises the steps of interaction force estimation based on generalized momentum, target impedance equation modeling, performance index function optimization and barrier Lyapunov function control input design. The method solves the problems that a traditional collaborative robot is high in hardware cost, poor in interaction adaptability, unstable in control and the like, and is suitable for man-machine interaction scenes in the fields of intelligent manufacturing, medical health and the like.

Electrochemical energy storage device electrodes formed from electrostatic deposition processes use composite particles that include an attached binder and optionally conductive particles along with active material (AM) particles formed by interaction forces between the individual component particles sufficient to form an effective composite particle capable of overcoming particle separation during electrostatic charging, fluidization, and / or mechanical transport. The secondary binder particles undergo deagglomeration to form subparticles attached to the AM particles with a predetermined morphology. Smaller conductive particles, typically carbon black (CB) or similar carbon, bind to the binder and adhere to the AM particles. The result is a composite particle that is attached to withstand the separation forces imposed on the current collector by electrostatic deposition. Applying multiple composite particles in a uniform pattern and at a defined loading onto the conductive current collector promotes robust energy density, power density, and cycle life for the electrochemical energy storage device.

The invention relates to the technical field of surgical operation arms, and particularly discloses a sensorless force sensing method and system for an incision continuum operation arm, and the method comprises the steps: analyzing a cable tension transmission relation, and obtaining the cable tension distribution in each deformation unit; statics analysis is conducted on the notched continuum operation arm, and a static model of the notched continuum operation arm is built through a beam constraint model; the relation between the cable variation and the deformation parameter of the notch continuum operation arm is introduced into the static model to serve as a constraint equation; and the cable variation and the cable tension in the motion process of the notch continuum operation arm are obtained, and the interaction force of the tail end of the continuum operation arm is obtained through iterative calculation based on the cable tension distribution, the static model and the constraint equation. According to the invention, the interaction force between the continuum operation arm and the external environment can be accurately sensed, and the interaction force between the cut continuum operation arm and the external environment can be accurately sensed.

The invention discloses a robot autonomous carving operation method and system for a complex curved surface. The method comprises the steps that S1, a character pattern segmentation method is designed, and a letter segmentation information base is constructed; constructing a sub-skill primitive library; generating a plane reference trajectory by adopting a discrete dynamic motion primitive model; s2, a 3D camera is adopted to obtain point cloud of an interested complex curved surface, eye calibration outside the hand is conducted on the camera, the transformation relation from a camera coordinate system to a mechanical arm base coordinate system is obtained, and a curved surface reference track and a surface normal vector are obtained; s3, parameter identification and gravity compensation are conducted on the mechanical arm tail end carving tool based on the six-dimensional force sensor; and S4, a self-adaptive admittance controller based on the radial basis function neural network is adopted to generate an expected engraving track, so that the interaction force of the environment and the mechanical arm tracks the expected interaction force, and the engraving operation of the mechanical arm is realized. The robot can conduct carving operation on a complex curved surface, the carving precision is high, the carving effect is good, and practicability is high.

The invention discloses a liquid drop collision dynamic behavior prediction method, which comprises the following steps of S1, analyzing a relationship between stress and deformation of an elastomer in a collision process of liquid drops, and establishing a dynamic model of a first liquid drop and a second liquid drop in the collision process; s2, solving the kinetic model according to the initial distance and the initial speed of the first liquid drop and the second liquid drop to obtain the speed of the first liquid drop and the second liquid drop and the sphere center distance in the collision process, and further calculating the interaction force of the first liquid drop and the second liquid drop in the collision process; s3, calculating the surface tension when the interaction force of the liquid drops in the collision process reaches the maximum value; and S4, determining the fusion condition of the liquid drops according to the surface tension when the interaction force of the liquid drops in the collision process reaches the maximum value. The method is simple in calculation and high in accuracy, fusion and splitting behaviors of the liquid drops can be predicted, and a calculation result is matched with experimental data.

A human body assisting apparatus and an accessory motion testing platform, comprising: a mobile motion platform (2), a multi-degree-of-freedom robotic arm (5), a motion capture system (8), a ground acting force measurement table (1), and a controller. By controlling the mobile motion platform (2) and the multi-degree-of-freedom robotic arm (5), the testing platform reproduces three-dimensional trajectories and postures of some limbs of a human body in a motion process and an interaction force between the limbs of the human body, so as to quickly verify some motion functions of an artificial limb, and shorten a research and development period of a human body assisting apparatus (7) comprising the artificial limb. In addition, the motion capture system (8) is used for measuring three-dimensional trajectories and postures of the multi-degree-of-freedom robotic arm (5) and the human body assisting apparatus (7), and the ground acting force measurement table (1) is used for measuring an interaction force between the human body assisting apparatus (7) and the ground. The motion testing platform can accurately reproduce motion trajectories and motion postures of limbs of a human body and an interaction force between the limbs, thereby improving the motion testing efficiency and accuracy of the human body assisting apparatus, and significantly reducing the human body testing cost. Further provided is an operation method for a human body assisting apparatus and an accessory motion testing platform.

The invention relates to the technical field of computers, and provides a fluid simulation method and device based on a Niagara particle system, and the method comprises the steps: creating a Niagara system in a simulation environment scene to be simulated; creating a particle emitter by using the grid 2D gas and / or the grid 3D gas in the fluid simulation plug-in as a fluid template so as to establish a fluid simulation space; dividing particles in the fluid simulation space into a plurality of distribution areas by adopting a space division algorithm, and associating the adjacent distribution areas; in the fluid simulation stage, neighborhood particles of each particle in the fluid simulation space are obtained according to the incidence relation between the particle distribution areas, and the motion state information of each particle and the interaction force between the particle and the adjacent particles are calculated. Updating the motion state information of the particles according to the motion trail and interaction of the particles and the time step, carrying out collision detection, and updating the motion state of the particles according to the result; and performing visual rendering according to the current motion state information and form information of the particles.

The invention belongs to the technical field of man-machine cooperative interaction, and relates to a man-machine cooperative compliant interaction method based on fuzzy variable admittance and human body motion prediction, which comprises the following steps: step 1, establishing a man-machine cooperative interaction admittance model, and converting the interaction force applied to an end effector of a mechanical arm by a collaborator into the end speed of the mechanical arm; 2, designing an admittance model parameter adaptive law based on a fuzzy theory, dynamically adjusting a virtual damping parameter, and designing a virtual mass adaptive law based on a virtual damping change condition, so that an admittance model dynamically adapts to a movement mode of a collaborator; and step 3, predicting a human body motion intention based on the LSTM network, generating an auxiliary speed item, and jointly generating an optimal man-machine compliant interaction speed in combination with an admittance reference speed obtained based on admittance model transformation. According to the method, the robot body motion information and the human body motion intention in a man-machine system are fully utilized, the self-adaptive admittance interaction device fused with the motion intention of the human operator is designed, and the naturalness and smoothness of man-machine interaction are improved.

The invention relates to a data acquisition method and system based on a rehabilitation device, and relates to the field of data acquisition and processing.The method comprises the steps that man-machine interaction force data and plantar pressure distribution data are acquired; obtaining a man-machine interaction force value based on the man-machine interaction force data; if the human-computer interaction force value exceeds a preset human-computer interaction force threshold value, an active auxiliary mode of the rehabilitation device is triggered; if the human-computer interaction force value does not exceed the preset human-computer interaction force threshold value, obtaining plantar pressure distribution characteristics from the plantar pressure distribution data; generating a control feedback signal in combination with the human-computer interaction force value and the plantar pressure distribution characteristics; and controlling the rehabilitation device to perform auxiliary operation based on the control feedback signal. The training effect evaluation method and device have the effect of improving the accuracy of training effect evaluation.

A high-speed deep groove ball bearing crown-shaped retainer strength analysis method relates to the technical field of bearing dynamic modeling analysis, and comprises the following steps: 1, obtaining initial conditions of a bearing, and establishing a bearing coordinate system; 2, establishing a flexible retainer carrier of the bearing; 3, analyzing the motion relation among the parts in the bearing, and calculating the relative speed and acceleration of each part; 4, analyzing interaction force among the parts of the bearing; 5, establishing dynamic differential equation sets of the parts in the bearing, including a rolling body dynamic differential equation set, a retainer dynamic differential equation set and an inner ring dynamic differential equation set; 6, solving a bearing dynamic differential equation set by utilizing a Gstiff variable step size integral algorithm according to a bearing dynamic theory; and 7, judging whether a calculation result of the bearing dynamic differential equation set meets a convergence error or not. By applying the method, the elastic characteristics of the crown-shaped retainer can be considered, a bearing dynamic analysis model is established, and the stress of the retainer is accurately analyzed.

The invention provides a functional probe for measuring rock-liquid adhesive force and a manufacturing method thereof, the probe is an atomic force microscope probe, and rock sample particles are adsorbed at the detection end of the probe. The manufacturing method comprises the following steps: cleaning the detection end of the probe, moving the probe to a position above the rock sample particles, and adsorbing the rock sample particles by the detection end of the probe to obtain the functional probe. According to the functional probe and the manufacturing method, the interaction force relation between rock and liquid can be rapidly and accurately represented, and the manufacturing method is simple and convenient.

The invention discloses a method and system for driving and controlling a lower limb exoskeleton through brain-computer interface intention confidence, and relates to the technical field of medical rehabilitation. The method comprises the following steps: firstly, identifying an original electroencephalogram signal to obtain intention confidence, and mapping an impedance parameter group containing joint stiffness and a damping coefficient in combination with gait phase information; secondly, extracting a motion position and an interaction force error, comparing an intention confidence coefficient with an actual execution state by using a sliding time window to obtain a nerve matching error, and fusing the three into a total composite error; meanwhile, the human-machine coupling compliance is evaluated based on the human body joint angle and the exoskeleton torque variation, and a safety gain coefficient is discriminated and generated; and finally, performing gain operation on the total composite error based on the impedance parameter group, and performing safety gain coefficient correction to obtain a target control torque to be output to a driving actuator. In this way, a nerve-force-motion three-closed-loop framework is constructed, and compliant self-adaptive on-demand assistance and high-safety man-machine collaborative rehabilitation with defense protection are achieved.

The invention discloses a rope traction parallel robot reconstruction planning method for man-machine interaction, which belongs to the field of rope traction parallel robot configuration planning and comprises the following steps: step 1, setting parameters of a rope traction parallel robot and establishing a kinetic equation of a movable platform; 2, setting an admittance model between the mobile platform and the interactive person, and establishing a dynamic relationship between the mobile platform and the interactive person; 3, setting parameters and a kinetic equation according to the step 1, and establishing a mathematical model of a force feasible working space; step 4, dividing the man-machine interaction process into an interaction force stage and a non-interaction force stage according to the magnitude and duration of the force applied to the robot by the interaction person, and setting evaluation indexes of the two stages according to the mathematical model in the step 3; and step 5, according to the evaluation index and in combination with an admittance model, solving an optimal rope leading-out point position by using a reconstruction strategy, and completing reconstruction planning. According to the method, the rope leading-out point position can be solved in real time, and the working space size and the operation freedom in the man-machine interaction process are improved.

The invention discloses a force feedback teleoperation control system and method based on a continuum surgical actuator, and belongs to the technical field of medical surgical robots. The system comprises a master end driving part and a slave end following operation part; the master end driving part is used for acquiring hand action data of an operator in real time, converting the acquired hand action data into a corresponding control signal, and sending the control signal to the slave end following operation part through a preset communication protocol; the slave end following operation part is used for generating a corresponding driving signal and transmitting the generated driving signal to the servo motor so as to control the operation actuator to move; and in the movement process of the operation executor, the interaction force of the operation executor and the target object is sensed in real time, and the interaction force of the operation executor and the target object is fed back to the main end driving part in real time so that an operator can sense the interaction force. According to the scheme, the teleoperation precision can be guaranteed, and meanwhile the telepresence of a doctor is enhanced.

The invention relates to the technical field of retainer motion stability analysis, in particular to a rolling bearing variable speed working condition-based retainer motion stability analysis method, which comprises the following steps of: S1, determining relative positions and motion initial values of each calculation parameter and each part of a bearing; S2, calculating a position angle of a rolling body at each moment; s3, calculating contact deformation among the rolling body, the inner ring, the outer ring and the retainer at each moment; s4, solving contact deformation at each moment according to the step S3; s5, calculating the interaction force among the rolling body, the inner ring, the outer ring and the retainer; s6, establishing a multi-degree-of-freedom dynamic differential equation; s7, solving a rolling bearing dynamic differential equation considering the three degrees of freedom of the retainer; s8, carrying out iterative calculation on the motion differential equations of the roller, the retainer, the inner ring, the outer ring and the bearing seat within the time t; and S9, analyzing the stability of the retainer, so that the simulation of the retainer is more and more close to the actual working condition, and the stability analysis of the retainer is favorably carried out.

An upper cover plate and a lower groove cavity are connected in a buckled mode through an anti-skid structure to form a complete wire groove, the anti-skid structure comprises a buckling groove and a buckling protrusion, the shape of the outer side face of the buckling protrusion is matched with the shape of the inner side face of the buckling groove, and the outer side face of the buckling protrusion is in full-contact connection with the inner side face of the buckling groove. Compared with point contact, large-area surface contact has the advantages that friction force between the buckling grooves and the buckling protrusions is improved, tight binding force between the upper cover plate and the lower groove cavity is improved, and the situation that the upper cover plate slides off from the lower groove cavity is avoided; the V-shaped structure of the first buckling plate and the second buckling plate enables the buckling protrusions to have a certain elastic change range, the interference fit between the buckling grooves and the buckling protrusions increases the interaction force between the buckling protrusions and the buckling grooves, and the stress between the buckling protrusions and the buckling grooves is increased due to deformation. The tight combination degree of the buckling protrusion and the buckling groove is improved, and the situation that the upper cover plate slides off from the lower groove cavity is prevented.

The utility model discloses a stability monitoring device and system for coal and rock mass exploitation. The stability monitoring device comprises a stressometer, a vibration sensor, a transmission module used for transmitting interaction force and vibration frequency to the stressometer and the vibration sensor, and a fixing module arranged below the transmission module and used for fixing the stressometer. The stability monitoring system comprises the coal and rock mass stability monitoring device and an early warning platform arranged on the ground and connected with the coal and rock mass stability monitoring device. In the technical scheme of the utility model, the transmission module is in rigid contact with the inner wall of the drill hole of the coal and rock mass, thereby greatly reducing the loss of transmitting the internal interaction force and vibration frequency of the coal and rock mass around the drill hole to the stressometer and the vibration sensor, and avoiding the flexible contact between the stressometer or the vibration sensor and the inner wall of the drill hole in the prior art. Therefore, the internal interaction force and the vibration frequency are greatly lost. Therefore, measured data can be more accurate and comprehensive.

The invention provides a material dryness and humidity prediction method and device based on a discrete element method and data driving, and relates to the technical field of material detection.According to the method, the change of interaction force between particles generated due to the change of the moisture content in the stirring process of materials is analyzed and converted into measurable engineering parameters, and the material dryness and humidity prediction result is obtained. And a quantitative mapping relation is established. According to the method, a particle system model is constructed by using a discrete element method, stirring mechanical behaviors under different water content conditions are simulated, and the accuracy of the model is verified by combining experimental data. On the basis, simulation and experimental data are trained by utilizing a machine learning algorithm, so that an intelligent model capable of predicting the water content of the material in real time is formed. The invention aims to realize efficient and accurate monitoring of the moisture content of the material.

The invention provides a preparation and application method of a solid super-lubricating two-dimensional material, the two-dimensional material is prepared through a one-dimensional amorphous crystal self-stripping layer, the preparation process is very simple and environment-friendly, water can be used as a solvent, low-cost large-scale preparation is easy to realize, and the solid super-lubricating two-dimensional material has very high quality and monolayer property. The two-dimensional material has extremely weak interlayer acting force, shows excellent solid super-lubrication performance, and can realize the super-lubrication behavior that the friction coefficient of a sliding part is lower than 0.01 in an atmospheric environment, and the interlayer adhesive force is 40-80% of that of graphite. The friction wear of the sliding part can be greatly reduced, and the friction material is suitable for various sliding friction parts, such as bearings, sliding blocks and micro-electro-mechanical systems.

The invention discloses a method for characterizing the microscopic contact between dust and droplets. The method comprises the following steps: firstly, a micron particle probe is prepared by a specific method; and then a micron droplet is prepared by a specific method. Then, the micron particle probe is brought close to the micron droplet and in contact with the micron droplet, and the force exerted on the probe is measured and calculated by a photoelectric detector, so as to finally obtain the magnitude of the interaction force between the current dust particle and the droplet and the magnitude of the separation distance when the dust particle adheres. Then, the above two values ​​are used as indicators for quantitatively evaluating the wettability of the dust particles, and the dust capture effect between different dust particles and deionized water can be evaluated based on the indicator. After the evaluation, different types and concentrations of surfactants are added to the deionized water and the test is repeated, so as to select the type and concentration of surfactant corresponding to the maximum values ​​of the two in each test, so as to provide data support for the subsequent actual preparation of the wetting agent for the dust particles.

The invention relates to a multi-modal feature information unified characterization and extraction method, which comprises the following steps of S1, monitoring whether a current intelligent agent of a robot is in physical contact with an external object or not, and if the current intelligent agent is in contact with the external object and an executed task is an interactive task, generating an implicit feature inference instruction; s2, performing time sequence pairing on the interaction force data characteristics and the interaction displacement-interaction speed characteristics to obtain interaction force-relative speed-interaction displacement time sequence data at an interaction interface; and S3, constructing an implicit information representation model, fitting representation parameters of the model by adopting a gradient descent method, and obtaining an object space grid feature prediction value based on the model when an error result is smaller than the confidence degree measurement matrix. Compared with the prior art, the method has the advantages that the robustness and generalization ability of intelligent agent control of the robot are improved, and the like.

The application provides a kind of compaction quality continuous detection evaluation method based on the extent of hunting, comprising: carrying out compaction test: real-time collection of vertical vibration acceleration of vibrating wheel, vertical vibration acceleration of upper rack and eccentric block position data;Calculate the vibrating wheel-filler interaction force of each detection period per hour;Vibrating wheel-filler interaction force curve is analyzed, to determine whether hunting phenomenon occurs in the detection period, and the compaction hunting value CJV calculation model of different working conditions is used to calculate the compaction hunting value CJV corresponding to the detection period;Establish compaction quality detection evaluation model based on CJV. The compaction quality of rolling surface is continuously detected and evaluated by using CJV. The application realizes real-time, continuous and full coverage detection of compaction quality, which can effectively guarantee the compaction quality. The continuous detection and evaluation method provided by the application is suitable for continuous detection and evaluation of compaction quality of various fillers.

This application belongs to the field of collaborative robot control technology, specifically disclosing a human-machine compliant interactive stability control method and system for achieving stiffness jumps. The method includes: real-time acquisition of the collaborative robot's end-effector interaction force and end-effector Cartesian velocity input to a fuzzy inference function to obtain human intention coefficients; calculation of the desired total stiffness and desired total damping at the current moment based on the human intention coefficients, and decomposition them into time-varying components and time-invariant basis components, respectively; employing an energy tank method to ensure system stability, calculating the filling rate of the energy tank based on the power dissipated by the basis damping when the energy tank is not full; if the energy tank is not depleted, using an energy exchange control method to replenish the collaborative robot with the energy required for time-varying stiffness and time-varying damping, and obtaining the desired velocity, desired position, and joint angle of the collaborative robot at the next moment. This method can dynamically and rapidly adjust admittance parameters according to the operator's intentions while ensuring the collaborative robot system remains strictly passive.