98 results about "Interaction forces" patented technology

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 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.

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 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.

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.

The invention discloses an experimental measurement test bed for interaction force between a retainer and a guide surface. The test bed comprises a base, a displacement loading device, an acting force measuring device, a tested unit, an inner ring loading device and a driving device, the tested unit comprises a tested retainer, a tested bearing inner ring, a tested bearing outer ring and a bearing seat; the acting force measuring device is used for measuring the force / torque borne by the measured retainer; the displacement loading device is used for adjusting the spatial position of the measured retainer through the acting force measuring device and positioning the measured retainer; the inner ring loading device is used for applying a static radial load to the inner ring of the tested bearing; the driving device is used for driving the tested bearing inner ring to rotate. The test bed can directly and accurately measure the interaction force between the retainer and the guide surface in the rolling bearing.

The application provides a three-dimensional model deformation simulation method and device and a storage medium, and belongs to the technical field of three-dimensional model simulation, and comprises the following steps: acquiring deformation weights of all vertices of a three-dimensional model and interaction forces borne by the vertices; wherein the deformation weights of the vertices in flexible regions, transition regions and rigid regions of the three-dimensional model are different; determining displacement amounts of the vertices according to the deformation weights and the interaction forces; and controlling movement of the vertices according to the displacement amounts. The deformation weights of the vertices in the flexible regions, the transition regions and the rigid regions of the three-dimensional model are different, so that controlling movement of the vertices according to the displacement amounts can make the flexible regions, the transition regions and the rigid regions of the three-dimensional model deform to different degrees, the three-dimensional model deformation simulation is more realistic, and the effect of the three-dimensional model deformation simulation is improved.

The invention discloses an AFM (atomic force microscope) and a piezoelectric ceramic driving method applied to high-speed feedback of an AFM (atomic force microscope) system, interaction force borne by a probe is enabled to be the same as preset interaction force by controlling the motion depth of piezoelectric ceramic, and the motion depth change of hardness detection piezoelectric ceramic is controlled to accord with a sine curve. Therefore, the movement depth change of the probe is a superposition waveform curve of the movement depth change of the two piezoelectric ceramics. Therefore, surface fluctuation detection and hardness detection of the to-be-detected surface are realized. According to the invention, the motion depth changes of the two piezoelectric ceramics are controlled to be non-interfering motion depth changes, so that the motion depth change (i.e., sinusoidal vibration) for detecting the viscosity of the surface to be detected and the motion depth change for feedback tracking of the appearance of the surface to be detected are two non-interfering motion depth changes. And the stroke of feedback tracking of the to-be-measured surface topography is ensured. Therefore, under the condition that the scanning speed of the atomic force microscope is high, a sample with large surface fluctuation can be measured.

Surgical systems and methods involving machine learning models to characterize tool interactions. A tool may be coupled to the robotic manipulator and configured to manipulate tissue. The sensing system measures a displacement of the tool, a speed of the tool, and an interaction force applied to the tool. A control system controls the manipulator to move the tool to interact with the tissue. In response to interaction of the tool with tissue over time, the control system obtains measurements of displacement, speed, and interaction force from the sensing system. The control system implements a machine-learned model for receiving and processing the measurements to estimate stiffness / damping parameters of the tissue, and evaluating variations in the estimated stiffness / damping parameters to generate a characterization regarding the tissue or tool interaction with the tissue. The control system controls the manipulator and / or the tool based on the characterization.

This application discloses a method and system for controlling a lower limb exoskeleton using a brain-computer interface based on intent confidence, relating to the field of medical rehabilitation technology. First, the system identifies the original electroencephalogram (EEG) signal to obtain intent confidence, and maps an impedance parameter set including joint stiffness and damping coefficients by combining gait phase information. Second, it extracts motion position and interaction force errors, compares the intent confidence with the actual execution state using a sliding time window to obtain neural matching errors, and merges these three into a total composite error. Simultaneously, it assesses human-machine coupling compliance based on changes in human joint angles and exoskeleton torque, and generates a safety gain coefficient. Finally, it performs gain calculations on the total composite error based on the impedance parameter set, and corrects it with the safety gain coefficient to obtain the target control torque for output to the actuator. This constructs a neural-force-motor three-loop architecture, achieving compliant and adaptive on-demand assistance and highly safe human-machine collaborative rehabilitation with defensive protection.

The application discloses an exoskeleton interactive force sensor based on an optical fiber grating, which comprises a sensitivity sensor I, a human-computer interaction binding structure and a sensitivity sensor II; the human-computer interaction binding structure is designed in a C-shaped hollow structure, and is used for realizing compliant binding with a human body; the sensitivity sensor I and the sensitivity sensor II are arranged at two ends of the outer side of the C-shaped hollow structure of the human-computer interaction binding structure respectively; the human-computer interaction binding structure comprises an arc-shaped binding structure and an arc-shaped binding structure, and two pairs of the arc-shaped binding structure and the arc-shaped binding structure are used for wrapping thighs; and the arc-shaped binding structure and the arc-shaped binding structure are connected through an adaptive adjustment structure. The application realizes high-sensitivity human-computer interaction force detection.

To provide a robot teaching device having an end effector operated by a teaching person intuitively, which can accurately measure interaction force between the end effector and a work object.SOLUTION: In a robot teaching device 5 equipped with a first end effector 1 gripped and operated by a teaching person, the first end effector 1 includes a first claw part 10 capable of switching its state between a state in which it can be opened and closed, and a state in which its opening or closing is fixed, a handle 12, and a first force sensor 11 for measuring force / torque between the first claw part 10 and the handle 12. Teaching data is generated on the basis of the output of the first force sensor 11 when the first claw part 10 is in the state in which the opening or closing is fixed and when the handle 12 is in the state in which it is gripped by the teaching person.SELECTED DRAWING: Figure 1

The invention provides a near-field dynamics GPU (Graphic Processing Unit) parallel simulation method for a quasi-brittle material and related equipment, which overcome the double defects in the aspects of mechanical modeling precision and calculation performance. The method comprises the following steps: constructing a near-field dynamic constitutive model; declaring a data structure based on the basic unit; initializing point coordinates of substance points; performing semi-neighborhood search according to the point coordinates and the near-field range to obtain a neighborhood information set; setting a prefabricated crack according to the neighborhood information set, and determining an initial key length, a material point volume correction coefficient, a surface correction coefficient and an initial crack; according to the displacement, the key data and the constitutive model, the near-field force and the substance point interaction pair fracture state are determined; the displacement state is updated according to the near-field force, the damage variable of the fracture state is updated according to the interaction of the material points, the steps of determining the near-field interaction force, updating the displacement state and updating the damage variable are iteratively executed until the termination condition is met, and the damage result and displacement state distribution are obtained.

The invention relates to the technical field of structural design of hydraulic structures, in particular to a structural design method of a permeable lining segment of a high-pressure hydraulic tunnel, which comprises the following steps: calculating the seam opening amount of a segment lining before a sealing gasket fails, judging whether a seam sealing gasket fails or not, and if the seam sealing gasket does not fail, calculating the structural stress when the seam sealing gasket does not fail; otherwise, the interaction force between the lining and the surrounding rock when the segmental lining and the grouting ring are not separated is calculated according to the hydraulic power and the displacement continuous condition, then the combined bearing state of the segmental lining, the grouting ring and the surrounding rock is judged, and the structural stress before and after the lining and the grouting ring are separated is calculated according to the judgment result. The invention provides a water-permeable lining segment structure design method capable of reflecting the influence of a consolidation grouting ring on the stress of a lining structure, and the defect that a segment lining tunnel cannot bear high internal water pressure under the existing hydraulic tunnel segment lining surface force design concept is overcome.

A robot teaching device with an end effector that can be operated intuitively by a teacher is provided, 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, which includes a first end effector (1) that is grasped and actuated by a teacher, the first end effector (1) includes a first gripper part (10) that is capable of switching between an opening and closing state and an open-close locking state, a handle (12) and a first force sensor (11) that measures a force and torque between the first gripper part (10) and the handle (12) and generates teaching data based on an output of the first force sensor (11) when the first gripper part (10) is in the open-close locking state and the handle (12) is grasped by the teacher.

The application discloses an anchoring hook, a valve stent and a valve prosthesis. The anchoring hook body comprises a straight rod segment, a bending segment and a free segment arranged in sequence from a root to a head. A slit has a starting point in the root area of the straight rod segment, and the slit extends from the starting point along the length direction of the anchoring hook body through the straight rod segment, the bending segment and at least a part of the free segment. The slit penetrates the anchoring hook body in the thickness direction of the anchoring hook body, and the width of the slit in the width direction of the anchoring hook body satisfies that the bending stiffness of the anchoring hook body changes within a predetermined threshold range compared with that before the slit is formed. The anchoring hook in the application is slit on the body, and the slit can enhance the torsional compliance of the whole anchoring hook without affecting the bending stiffness of the anchoring hook body. When subjected to multi-dimensional interaction force caused by continuous contraction of the heart or subjected to torsional force that makes the anchoring hook have a lateral bending or torsional tendency, the anchoring hook in the application has good fatigue performance.

This disclosure relates to a time-sharing adaptive precision assistance method, device, electronic device, and storage medium that adapts to changing target assistance needs. The method includes: calibrating and initializing sensors in the exoskeleton wearer coupling system; identifying the wearer's gait characteristics; predicting the wearer's current target assistance needs based on gait characteristics, joint interaction force characteristics, and center of mass motion characteristics, and matching joint controller parameters accordingly; establishing an exoskeleton swing phase and support phase enhancement torque controller that adaptively adjusts with joint motion amplitude and frequency; and switching the exoskeleton swing phase and support phase enhancement torque controller based on the target assistance needs, thereby achieving time-sharing adaptive assistance of the exoskeleton to adapt to changing target assistance needs. This disclosure achieves dynamic matching of the target motion position by adjusting joint controller parameters, which helps improve the exoskeleton robot's autonomous perception and efficient assistance to the wearer's target assistance needs.

The invention discloses a manned lunar vehicle elastic wheel traction performance rapid evaluation method and device, and the method comprises the steps: building a virtual lunar soil model based on a discrete element method, and obtaining the ground mechanics parameters of the interaction of lunar soil and wheels through a virtual pressing plate test and a virtual shear test; on the basis of the terramechanics parameters and the wheel parameters, the wheel soil acting force is calculated through an improved semi-empirical model, so that the traction performance of the wheels is evaluated; solving a wheel soil contact parameter by adopting an iteration mode, and evaluating the traction performance of the wheel according to the calculated wheel soil acting force; wherein the improved semi-empirical model divides the contact area of the wheel and the lunar soil into an elastic contact area with elastic deformation and a rigid contact area without deformation, the wheel soil acting force in the two areas is calculated respectively, and the wheel structure parameters and the lunar soil parameters are analyzed in a simulation mode according to the wheel structure parameters and the lunar soil parameters. And the traction performance such as hook traction force, rolling resistance and rolling efficiency of the elastic wheel can be quickly calculated.

The invention provides a force feedback instruction output method in neurosurgical operation simulation, which comprises the following steps: S1, initializing force feedback equipment, creating a high-frequency service circulation thread and respectively configuring independent control channels of left and right hand surgical instruments; s2, collecting encoder data, joint angles and surgical instrument tail end pose information of the force feedback equipment in real time; s3, analyzing the data flow of the encoder data, and extracting a clamping angle state signal of the surgical instrument, a suction force state signal of an aspirator and an instrument replacement control signal; s4, dynamically calculating an interaction force between the nervous tissue and the surgical instrument based on the biomechanical model, and generating a six-degree-of-freedom force feedback instruction; s5, sending the feedback instruction to force feedback equipment, and updating the state of the instrument model in the three-dimensional operation scene; and S6, monitoring the running state of the force feedback equipment, and closing feedback output and releasing resources when the force feedback equipment is abnormal or the operation is terminated. The tactile feedback core pain point in neurosurgery simulation is solved.

The utility model discloses a test pup joint which comprises a test piece, a drill bit connecting piece and a buffer piece, the test piece is provided with a connecting end and a transmission end, and the connecting end is configured to be connected with a drill rod; one end of the drill bit connecting piece corresponds to the transmission end of the test piece and can move relative to the transmission end so as to be in contact with or away from the transmission end, and the other end of the drill bit connecting piece is configured to be connected with a drilling tool; the buffer piece is connected with the test piece and the drill bit connecting piece and used for providing buffer force acting between the test piece and the drill bit connecting piece. The device not only can measure the dynamic interaction force between the drill bit and the drill rod, but also can effectively buffer the instantaneous impact force generated during the operation of the drill bit and protect the test short section from being damaged.

The embodiment of the invention relates to the technical field of computer aided design, in particular to a method for determining a vapor-liquid interphase interaction force coefficient model in a reactor rod beam flow channel, and the method comprises the steps: S10, determining a numerical model of a turbulent flow field of bubbles in the reactor rod beam flow channel; s20, according to the numerical model, determining a numerical model of a fluid volume method of vapor-liquid two-phase flow of the reactor rod beam flow channel; s30, according to the model determined in the step S20, determining a bubble dynamics multi-physics field of a near-wall area of the rod beam flow channel; and S40: according to the bubble dynamics multi-physical field, determining a vapor-liquid interphase interaction force coefficient model. Compared with a vapor-liquid interphase interaction force coefficient model obtained through experimental data fitting, the method for determining the vapor-liquid interphase interaction force coefficient model has the advantages that parameter measurement errors can be avoided, the model precision can be improved, and therefore more accurate microscopic characteristics of vapor-liquid two-phase flow in a reactor rod beam flow channel can be obtained; and the interphase acting force of vapor-liquid two-phase flow is accurately simulated.

The application discloses a micro-rotary platform with self-compensation of rotation center offset, and belongs to the technical field of micro / nano electromechanical systems. The micro-rotary platform comprises a positioning platform and a flexible mechanism; the flexible mechanism is arranged below the positioning platform; the flexible mechanism comprises two center-symmetrical branch chains; the branch chain comprises a primary lever displacement amplification mechanism, a force transmission mechanism and a secondary lever displacement amplification mechanism which are sequentially connected; the force transmission mechanism comprises an inclined first rigid beam; the secondary lever displacement amplification mechanism comprises a first flexible hinge which is a flexible beam and is fixedly constrained at both ends; when the primary lever displacement amplification mechanism is driven in a positive direction along the Y axis, the first rigid beam cooperates with the first flexible hinge to generate a force in a negative direction along the X axis and a force in a positive direction along the Y axis; the force in the negative direction along the X axis can generate displacement along the X axis to compensate for the offset of the rotation center; interaction forces generated at the end effector point and the positioning platform are avoided, and the positioning and measurement accuracy of a workpiece are improved.

The invention relates to a visual touch fusion control method applied to a space manipulator, the manipulator is configured to grab a to-be-assembled object and complete assembly butt joint, and the assembly butt joint state comprises an approaching stage, a contact stage, a sliding stage and a butt joint interface locking stage which are progressive in sequence. The method comprises the following steps: acquiring a relative pose and a force signal of a to-be-assembled object, and generating a trajectory planning instruction based on the relative pose; judging an assembly butt joint state and outputting expected interaction force and self-adaptive admittance parameters of the stage; on the basis of the expected interaction force and the self-adaptive admittance parameters at the current stage, an expected tail end interaction dynamic model in a Cartesian space is constructed, so that balance between position control and compliant force interaction in the assembly butt joint process is achieved; and / or if it is detected that the transverse force suddenly changes or stops, clamping stagnation is removed so as to relieve the clamping stagnation, and the sliding stage is returned until the docking interface locking stage is started. According to the method disclosed by the invention, high-precision and high-robustness flexible assembly is realized.

The utility model discloses a supporting piece which comprises a first supporting unit and a second supporting unit, the first supporting unit comprises a half sole area, the half sole area comprises a first supporting area, the second supporting unit comprises a second supporting area, and the second supporting area is connected with the first supporting area through at least one group of first assemblies extending transversely. Therefore, interaction force between the first supporting unit and the second supporting unit is guided to be transmitted in the transverse direction. The supporting piece is provided with the first supporting unit and the second supporting unit which are split, the second supporting area and the first supporting area are connected through the first assembly extending transversely, and the first assembly enables force generated by muscle contraction to be converted into transverse displacement more efficiently when a human body starts transverse shearing action. According to the structure, transverse starting supporting is provided, meanwhile, the requirement for bending flexibility of the half sole area is met, and the overall stability of the supporting piece can be kept easily.

The invention discloses a micro-motion rotating platform with a rotating center offset self-compensation function, and belongs to the technical field of micro / nano electromechanical systems. The micro-motion rotating platform comprises a positioning platform and a flexible mechanism, the flexible mechanism is arranged below the positioning platform, the flexible mechanism comprises two centrosymmetric branch chains, each branch chain comprises a first-stage lever displacement amplification mechanism, a force transmission mechanism and a second-stage lever displacement amplification mechanism which are connected in sequence, and the force transmission mechanism comprises an inclined first rigid beam; the second-stage lever displacement amplification mechanism comprises a first flexible hinge with the two ends being fixedly restrained and being a flexible beam, and when the first-stage lever displacement amplification mechanism is driven in the positive direction of the Y axis, the first rigid beam is matched with the first flexible hinge to generate acting force in the negative direction of the X axis and the positive direction of the Y axis; the negative acting force along the X axis can generate displacement along the X axis so as to compensate the offset of the rotating center; the interaction force between the point position of the end effector and the positioning platform is avoided, and the positioning and measuring precision of the workpiece is improved.

The invention provides an integrated joint MEMS multi-dimensional force sensor and sensing equipment, and the sensor comprises an elastic assembly main body, the side wall of the elastic assembly main body is provided with a plurality of assembly grooves and a plurality of sensitization parts, the assembly grooves and the sensitization parts are alternately arranged, and any sensitization part is provided with a sensitization groove; each sensing mechanism comprises an MEMS assembly and an installation circuit board, the MEMS assemblies are connected to the installation circuit boards and located in the assembly grooves, and the MEMS assemblies are provided with piezoresistors; and any filling mechanism comprises a filling main body and a filling arm. Through collaborative design of the elastic assembly main body, the sensing mechanism and the filling mechanism, accurate sensing of the multi-dimensional force at the joint is realized, and the limitation that a traditional single-dimensional force sensor or a force sensor integrated on a driving unit cannot accurately acquire the multi-dimensional direct interaction force at the joint is broken through; finally, real-time, accurate and stable sensing of the multi-dimensional force at the joint of the robot is achieved, and more reliable force feedback support is provided for high-precision operation scenes such as robot-assisted minimally invasive surgery.