265 results about "Kinematic chain" patented technology

The invention relates to the technical field of robot anomaly prediction, in particular to a robot anomaly prediction method and system based on multi-dimensional fusion and causal inference. The method comprises the steps of performing multi-scale depth state characterization based on acquired robot multi-joint sensing data, and performing dynamic causal graph fusion based on the multi-scale depth state characterization. Comprising the steps of priori knowledge graph construction based on a kinematics chain, dynamic association attention mechanism construction based on data driving, state fusion of knowledge and attention guidance and global state vector generation. Performing hierarchical space-time dependency prediction based on the fused features, wherein the hierarchical space-time dependency prediction comprises robot joint topological graph construction, spatial dependency dynamic modeling, long-range time evolution prediction and future robot health state prediction; the method shows excellent performance in a plurality of core dimensions such as prediction precision, early warning timeliness and diagnosis interpretability, and has extremely high actual deployment value and engineering popularization potential.

The invention discloses a charging robot automobile charging port pose vision measurement method comprising the following steps: 1, controlling a mechanical arm to drive a monocular camera to collect a charging port image, and constructing a charging port image data set; 2, extracting a charging hole contour in each image by adopting an improved Mask R-CNN instance segmentation model; step 3, performing robust ellipse fitting based on each charging hole contour to obtain center coordinates of each charging hole in the two-dimensional image; step 4, establishing a world coordinate system based on charging hole space distribution defined by the automobile charging port standard model, and determining three-dimensional coordinates of each charging hole; and 5, the multi-view two-dimensional center coordinates and the corresponding three-dimensional coordinates are input into the PnP graph optimization model, and the pose of the charging port in the mechanical arm base coordinate system is solved by fusing the re-projection error constraint, the structure prior constraint and the kinematics chain constraint. The invention further discloses a charging robot automobile charging port pose vision measurement charging method and a charging system.

The invention discloses a precision compensation method of a composite numerical control machine tool, and particularly relates to the technical field of precision control of the numerical control machine tool, which comprises the following steps: synchronously acquiring temperature, vibration and force information under the driving of a unified clock through multiple types of sensors deployed at key nodes of the machine tool, and generating a synchronous multi-source sensing data set with aligned timestamps; inputting the data set into a multivariable coupling error model obtained through data driving training, and calculating and generating a comprehensive space volume error predicted value of a tool nose point of the tool; performing inverse calculation based on a machine tool kinematic chain model, and generating a multi-dimensional micro-compensation instruction set containing the compensation amount of each motion axis and the sequential relationship; and finally, dynamically writing the instruction set into a servo control ring of the numerical control system through a real-time data interface, and driving each motion shaft to execute synchronous compensation motion. According to the method, comprehensive compensation of multi-physics field coupling errors such as temperature, vibration and force load is achieved, and the machining precision and stability of the numerical control machine tool under complex working conditions are improved.

The invention relates to the technical field of robot intelligent control, in particular to a humanoid robot multi-modal environment sensing and self-adaptive chassis control method, which comprises the following steps: monitoring a contact force vector and a sliding trend in real time through a multi-dimensional touch sensor, mapping pose drift to a chassis coordinate system based on a Lie group constraint space-time synchronization layer, and performing multi-modal environment sensing and self-adaptive chassis control on the basis of a multi-dimensional touch sensor; a compensation vector is generated, a three-level tactile response layer dynamic switching force / bit mixed impedance mode is adopted, reverse translation of an omnidirectional chassis is combined to counteract drift, compensation parameters are optimized through a depth deterministic strategy gradient algorithm, and the system ensures control instruction time sequence alignment through a time-space stamp synchronization engine. The attitude oscillation in the compensation process is suppressed by using the inertial measurement unit, the obstacle avoidance interference domain is constructed based on the kinematics chain of the operation arm, and the compensation trajectory is smoothed by using the B-spline curve, so that the precision, stability and safety of the humanoid robot in the complex contact operation are improved, and an efficient and reliable solution is provided for a man-machine cooperation scene.

The invention discloses a virtual assembly and anti-collision simulation method for a double-swing-head five-axis numerical control machine tool, and the method comprises the following steps: S1, building a geometric model of the double-swing-head five-axis numerical control machine tool based on a machine tool kinematic model, and the geometric model comprises parameterized three-dimensional models of a main shaft part, a swing head mechanism, a workbench and a machine tool body; s2, according to the constraint relation of the kinematic chains of the machine tool, an assembly hierarchical relation is established in the virtual environment, and virtual assembly of all parts is achieved through dynamic constraint driving; s3, on the basis of a machine tool kinematics forward and inverse solution algorithm, simulating the motion trail of the double swing heads in the five-axis linkage process; s4, through a real-time collision detection algorithm, detecting interference conditions among the cutter, the swing head, the workpiece, the clamp and the machine tool body, and generating an anti-collision early warning signal; and S5, optimizing a motion path of the machine tool in combination with a simulation result, and outputting a collision-free machining code. The assembly precision can be improved, and the physical debugging cost can be reduced.

The invention discloses a knee joint postoperative rehabilitation management system, which comprises the steps of building a hip-knee-ankle multi-joint associated diagnosis AI model, generating an evaluation result based on the hip-knee-ankle multi-joint associated diagnosis AI model, generating a staged rehabilitation scheme through reinforcement learning and a rehabilitation knowledge graph, and performing rehabilitation management on the rehabilitation scheme. Sensor data in the training process of a patient is collected through a detection suite and input into an action judgment model after being preprocessed, and the model outputs an action correctness score and an error type in combination with a shank-thigh axis consistency judgment algorithm and an action standard library; according to the action correctness score and the error type, the patient is guided to adjust the action, and rehabilitation training closed-loop management is achieved. The knee joint compensation relation can be accurately judged, the kinematic chain balance principle of knee rehabilitation training can be met, the correctness of actions during training can be accurately judged, and joint unbalance is avoided.

The invention provides a self-supervised continuous 3D hand posture tracking method based on a lightweight inertial measurement unit, and the method specifically comprises the following steps: firstly, obtaining a hand motion signal by using a lightweight consumer-level IMU, and extracting features by using a multi-stage neural network containing a bidirectional long-short term memory (Bi-LSTM) module; the global displacement and orientation of the hand are processed through a wrist posture estimation module, and three-dimensional coordinates of hand skeleton points are solved and calculated by means of a finger motion chain; secondly, a self-supervised completion network is realized by combining a random mask and dual loss, and the features are processed to complete complete attitude reconstruction; and finally, combining network output with kinematics prior, generating a three-dimensional grid with reasonable anatomy, solving the problem that joint deformation is inconsistent with torque, and realizing accurate acquisition of a three-dimensional hand posture. For a dynamic hand motion tracking task, the method can adapt to a sparse IMU deployment scene and realize continuous high-precision tracking; the real-time performance demand of daily interaction can be met, and a low-cost solution can be provided for the fields such as medical rehabilitation and virtual interaction which have strict requirements on attitude precision.

The invention relates to the technical field of rehabilitation medical treatment, and discloses a muscle group stress analysis method and device, a terminal and a storage medium, and the method comprises the steps: respectively obtaining motion data collected by inertial measurement units arranged on the body of a user, and recognizing gait events based on the motion data corresponding to the inertial measurement units of the lower limbs, dividing the continuous motion data into a plurality of gait cycles according to the gait event; fusing the motion data acquired by each inertial measurement unit to obtain a three-dimensional posture of each preset segment of the body, and constructing a three-dimensional motion track of the spine area of the user in combination with a human kinematics chain model; processing the three-dimensional motion track and the known muscle group stress data by adopting a singular value decomposition embedding regression method to obtain a preliminary target muscle group stress curve of each gait cycle; and correcting the initial target muscle group stress curve based on a human body multi-rigid-body dynamic model in combination with a control cost function to obtain a final target muscle group stress curve.

The invention discloses a face gear worm grinding machine geometric-thermal error compensation system based on digital twinning. The face gear worm grinding machine geometric-thermal error compensation system comprises a geometric-thermal error mapping model, a thermal error prediction model and a digital twinning driving geometric-thermal error compensation system. The geometric-thermal error mapping model is constructed based on a mapping relation between geometric-thermal errors and tooth surface errors in a grinding machine kinematic chain; the thermal error prediction model is constructed based on an LSTM network of an improved gating structure; the digital twin drive geometric-thermal error compensation system comprises a layered architecture of a sensing control layer, an edge layer and a cloud layer. The sensing control layer is used for collecting data in real time so as to provide heat information data of the face gear worm grinding machine. An edge layer deploys a thermal error prediction model to carry out real-time thermal error prediction, and the thermal error prediction model is integrated with a geometric-thermal error mapping model; and the cloud layer trains a thermal error prediction model through historical thermal information data, and issues updated model parameters to the edge layer to synchronously update the thermal error prediction model.

The invention provides a double-layer intelligent agent optimization method, device and equipment for multiple mechanical arms and a storage medium. An RRT-Connect algorithm and B spline track smooth optimization are introduced into a high layer, and global path planning is conducted on environment information of a carrying task; the smoothed centroid trajectory is converted into a reference trajectory sequence at the tail end of each mechanical arm by using a kinematics chain model, then the reference trajectory is used as a bottom layer distributed real-time control guide signal driven by an MAPPO algorithm, and comprehensive feedback is performed on task completion degree, motion smoothness and coordination in combination with a multi-layer reward function; and all the mechanical arm intelligent bodies are guided to cooperatively adjust joint actions in the tracking process, so that seamless connection of global planning and local control is achieved, and the smoothness and cooperative efficiency of carrying motion are remarkably improved.

The invention relates to a multi-stage optimization and kinematics constraint-based thumb posture estimation method and computing equipment. The method comprises the following steps of: acquiring original hand data, preprocessing the original hand data, and initializing parameters; constructing a multi-objective optimization function with multiple constraints, obtaining an initial estimation thumb posture based on the preprocessed data, taking the initial estimation thumb posture as an initial value, and performing recursive calculation by using a kinematics chain to obtain an accurate angle of each joint of the thumb; integrating the accurate thumb joint angle to complete hand posture parameters and outputting the parameters; a computing device is implemented based on the method. Complete and accurate thumb kinematic chain recovery under incomplete input is achieved, it is guaranteed that all estimated thumb joint angles conform to the human anatomy activity range, and high-fidelity basic data are provided for downstream application; the generated thumb motion sequence is continuous and smooth in the time dimension, and the visual experience in real-time interaction application is greatly improved; in an interactive application, a more natural, accurate and jitter-free gesture control experience can be realized.

The invention discloses a remote humanoid mapping control method based on a virtual reality motion capture mechanical arm. A motion data acquisition module transmits a matrix of a head coordinate system relative to a world coordinate system and a homogeneous transformation matrix to a coordinate system conversion module, establishes a base coordinate system and a tail end coordinate system, and establishes a kinematic chain conversion model; extreme position data of forearm extension of a user is collected, a proportionality coefficient is calculated, and a motion space boundary of the mechanical arm is output; pose normalization processing is carried out to form a discretized mechanical arm tail end pose sequence, and then the spatial relation between the mechanical arm sphere model and the obstacle is analyzed; generating a collision-free track by adopting a parallelization gradient optimization algorithm; the trajectory optimization module realizes trajectory smoothness and time optimization by constructing a multi-objective optimization function; and a mechanical arm motion simulation system is constructed, the tail end track precision is verified, and the controller drives the mechanical arm to achieve high-fidelity reproduction of user actions according to the track. According to the invention, high-precision and smooth-path motion migration of the mechanical arm is realized.

The invention relates to a biped robot gait planning method. The invention relates to the technical field of robot gait planning, and the method comprises the steps: taking a kinetic model of a robot as input, so as to achieve the neural network reasoning of simulation; describing the robot by using a URDF file, and enabling the robot to be equivalent to a kinematic chain formed by connecting rigid bodies in series; through accurate description, a robot consistent with that in reality is established in a simulation environment, the robot is enabled to carry out gait learning in a simulation physical environment, and supervised random divergence trial and error are carried out in a mode of setting initial conditions, termination conditions and reward and punishment conditions so as to realize gait learning. According to the invention, through repeated modification of parameters and structural adjustment of adaptability, a stable, low-energy-consumption and high-robustness control strategy is finally obtained through training.

Systems and methods for assisting movement of a user and / or a base connected to one or more robotic limbs are described herein. Forces may be applied to one or more robotic limbs to control movement of the base. The base may be attached to a user, or other payload, and forces applied to the base due to externally applied forces, such as those applied by a user interacting with an environment, may result in reactionary forces being applied to the one or more robotic limbs. These forces may be detected and used to determine one or more commands for operation of the one or more robotic limbs. Optionally, the robotic limbs may include one or more end effectors which may removably couple or otherwise be held substantially stationary relative to an environment to form a closed loop kinematic chain.

The application relates to the technical field of four-degree-of-freedom parallel mechanisms, in particular to a three-branch-chain space four-degree-of-freedom parallel mechanism which comprises a static platform, a mixed branch chain, a simple branch chain one, a simple branch chain two and a dynamic platform; the application has a mixed branch chain of a space sub-branch chain type and two simple branch chains, forms a basic motion chain containing three loops, thereby realizing the advantages of good rigidity and high precision, the displacement of the dynamic platform in the X-axis and Y-axis directions is controlled by two moving pairs respectively, the displacement in the Z-axis direction and the rotation around the Z-axis direction are controlled by four moving pairs, therefore, the application has good partial motion decoupling, the symbolic position direct solution is easy to obtain, thereby facilitating the motion control, trajectory planning and dynamics analysis of the parallel mechanism, and the three-dimensional position working space of the dynamic platform is large, the rotation capacity is strong, and the branch chains are not prone to interference.

The present invention discloses a planar two-degree-of-freedom mobile parallel robot with a zero-speed configuration for all joints. The robot comprises a base and a moving platform; a first kinematic chain and a second kinematic chain are disposed between the base and the moving platform; the first kinematic chain comprises a first-to-one mobile pair P111, an eighth link assembly, a first branch chain, and a second branch chain; the eighth link assembly is connected to the moving platform via the first-to-one mobile pair P111, and the first branch chain and the second branch chain are both connected to the eighth link assembly and the base; the second kinematic chain comprises a second-to-one mobile pair P211, a fifteenth link assembly, a third branch chain, and a fourth branch chain; the fifteenth link assembly is connected to the moving platform via the second-to-one mobile pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth link assembly and the base. The robot can perform complex tasks. Also disclosed is a driving method for the planar two-degree-of-freedom mobile parallel robot with a zero-speed configuration for all joints.

Systems and methods for determining a user's health / wellness condition. Gait-based biometric data from a user is gathered using a sensor module. The biometric data is transmitted to a data processing module that compares characteristics of the biometric data with previously obtained baseline biometric data from the same user. Differences between the current data and the baseline data indicate changes in the user's condition. Databases containing kinematic chain models for the user are used to obtain more accurate and more specific indications regarding determined changes in the user's condition. A base kinematic chain model is created for the user when the user first uses the system and current kinematic chain models are generated for each biometric data set gathered. Characteristics of the base and the current kinematic chain models are compared to determine changes in the user's condition.

The invention belongs to the technical field of laser tool setting, and particularly relates to a method for calibrating a laser tool setting gauge by using a self-made standard rod. According to the method, the universal geometric parameter model is established for the self-made standard rod, so that the method can adapt to various different calibration scenes, and meanwhile, the equipment cost is reduced by more than 90%. In the calibration process, according to the trigger principle of the laser tool setting gauge, the installation error of the laser tool setting gauge is considered, a kinematic chain of the calibration system is constructed, and a mathematical model of the calibration process is further obtained. Through the mathematical model, the coordinate of the central point of the laser axis of the laser tool setting gauge in a machine tool coordinate system can be accurately solved. The problem that calibration is inaccurate due to installation errors of the laser tool setting gauge in the traditional calibration process is solved. In addition, the calibration cycle time of the method is greatly reduced, and the calibration efficiency is improved.

The invention discloses a single-degree-of-freedom N-weight reverse four-bar kinematic chain and a grabbing mechanism based on the kinematic chain, and belongs to the technical field of grabbing systems. The problems that in the prior art, a mechanism for stably grabbing long-length structures such as cables and pipelines lacks, and an existing grabbing mechanism is poor in stability and limited in enveloping range are solved. The device comprises a driving rod and N basic rod groups which are sequentially arranged end to end, the driving rod comprises two auxiliary rods, each basic rod group comprises a rod I and a rod II, and the rod I and the rod II are respectively provided with three auxiliary rods. And no degree-of-freedom redundancy exists, so that the system has better stability and controllability. And the N basic rod groups can continuously extend according to the connection mode. On the basis of keeping a reverse four-rod structure, the length of the kinematic chain can be gradually increased, and a larger enveloping range is realized.

The invention discloses a method and system for rapidly defining motion coordinates in a numerical control multi-axis machine tool simulation system, and belongs to the technical field of numerical control machining. According to the method, all moving parts of a machine tool are organized into a tree-shaped topological structure according to a kinematic chain relation; automatically generating a local coordinate system for each moving part; calculating a cumulative transformation matrix through matrix cumulative multiplication; receiving a graphical dragging operation of a user on the moving part; according to the position of the moving part in the topological structure tree, identifying the allowable motion freedom degree type of the moving part, and projecting the dragging vector to a corresponding motion axis; calculating a motion increment and updating a position parameter; recalculating the coordinate transformation matrix to realize real-time simulation display, and converting the motion sequence into a numerical control code; according to the method, a user can explore and define the motion trail from zero through interactive operation, the period from design conception to verification simulation is greatly shortened, and the development efficiency of numerical control machining is improved.

The invention relates to the technical field of non-standard automation equipment control, in particular to an industrial robot machining program migration method based on a configuration description file, and solves the problem that a non-standard industrial robot cannot migrate a machining program. The method comprises the steps that S1, a configuration description file of a prototype industrial robot is constructed, and based on object-oriented abstract modeling, kinematics, peripheral and communication modeling and a machining program are included; s2, the target robot is assembled according to the prototype physical structure, and it is ensured that the same configuration, component assembly, the axis movement direction and the origin coordinate are consistent; s3, loading the configuration file to the target robot; s4, correcting assembly errors through visual sensing, obtaining accurate coordinates among the parts, and then generating joint coordinates through inverse solution; and S5, the target robot executes the adaptive machining program, and program migration is achieved. According to the method, prototype machine information is packaged through the configuration description file, after the target machine is loaded, errors are corrected only through visual calibration, rapid adaptive machining can be achieved through kinematic chain inverse solution, and rapid copying of robots of the same configuration is achieved.

The present invention discloses an isotropic and fully decoupled heavy-duty three-mobile parallel robot, which includes a fixed platform and a moving platform; a first motion chain, a second motion chain and a third motion chain are arranged between the fixed platform and the moving platform, and the fixed platform and the moving platform are connected through the first motion chain, the second motion chain and the third motion chain; the first motion chain includes an eighth link assembly and a fifteenth link assembly; it also includes a first "fork-shaped" drive module, a second "fork-shaped" drive module, a third "fork-shaped" module, a fourth "fork-shaped" module, a fifth "fork-shaped" module and a sixth "fork-shaped" module. This robot can be provided with multiple drive modules, which improves the carrying capacity of the robot to a certain extent and enlarges the application range of such robots on the basis of the relatively simple control of fully decoupled robots. The driving method of the isotropic and fully decoupled heavy-duty three-mobile parallel robot is also disclosed.

The invention relates to a Tripteron-type parallel manipulator configured to provide three purely translational degrees of freedom by means of three orthogonal linear actuators and their respective parallelogram-shaped kinematic chains. The system incorporates an auxiliary active support arranged on the Z-axis, intended to apply an upward vertical force to the moving platform (11) in order to reduce the load borne by the kinematic chain and the main Z-axis actuator. This support can be implemented using electric or pneumatic actuators, elastic elements, or cable-driven mechanisms, allowing for active, passive, or semi-active operating modes.The integration of the auxiliary support increases the manipulator's load capacity, improves its dynamic stability, and reduces the mechanical demands on the vertical actuator, while maintaining the purely translational kinematics and structural characteristics of the original Tripteron unchanged.

This invention relates to a trenching device and method for pipeline laying. The trenching device includes a connecting frame, a support frame, a chain drive mechanism, strip plates, a shearing plate, and a reciprocating motion mechanism. The support frame is located below the rear side of the connecting frame. The chain drive mechanism is mounted on the support frame and can drive the chain to move back and forth circumferentially. A strip plate extending laterally is fixed to a link of the chain. The strip plate has left and right extending grooves, with the groove openings facing away from the corresponding chain link. The shearing plate is slidably connected within the grooves. Both the shearing plate and the strip plate have shearing portions at their edges near the groove openings. The reciprocating motion mechanism is mounted on the strip plate and is connected to both the shearing plate and the drive mechanism. The chain drives the reciprocating motion mechanism on the strip plate to move back and forth circumferentially, and the reciprocating motion mechanism, driven by the drive mechanism, drives the shearing plate to reciprocate left and right. This invention ensures continuous and efficient trenching operations.

The invention relates to the field of ankle joint rehabilitation robots, in particular to a one-translation and two-rotation type parallel ankle joint rehabilitation robot and a working method. The parallel mechanism comprises a static platform, a first mixed branch chain, a second just constraint branch chain and a movable platform, and a basic kinematic chain containing two loops is formed. The mechanism only comprises a translation pair and a rotation pair, so that the mechanism has the advantages of high rigidity and good precision.

The invention discloses a motion analysis and feedback method and device and a computer readable storage medium, and the method comprises the steps: building a neutral position reference model based on the skeleton features of a user, and calculating the instantaneous deviation features of a real-time posture and the reference model; resolving a time domain accumulation feature representing the stubborn degree of the action error and a time domain change rate feature representing the deterioration trend of the action error in real time; retrieving the kinematic chain knowledge graph to obtain attribution information; inputting the features into an adaptive feedback control model, dynamically calculating abstract hierarchy parameters of a teaching strategy based on the magnitude of time domain accumulation features, respectively calculating mood specificity parameters and intervention opportunity parameters in combination with instantaneous deviation features and time domain change rate features, and generating prompt control parameters; and finally, system prompts are assembled based on the prompt control parameters, and self-adaptive feedback information is generated. According to the application, the crossing from mechanical error correction to adaptive closed-loop teaching can be realized.

This invention proposes a comprehensive compensation method for key errors in five-axis in-machine measurement. This method compensates for pre-travel errors along the normal vector in the machine tool coordinate system during five-axis in-machine measurement, avoiding the inaccuracy of compensation along the normal vector in the part coordinate system in existing technologies. Furthermore, a high-precision and stable laser interferometer is used to identify the positioning deviations of the two rotation axes, and the identified deviations are substituted into the machine tool kinematics chain to offset the rotational angle positioning deviations introduced in the five-axis in-machine measurement. The calculation method of this invention is simple and reliable, and can be extended to in-machine measurement on four-axis machine tools or other five-axis machine tools with different structures.

The application discloses a hand exoskeleton for capturing finger movement and a finger configuration reconstruction method, and can realize full-space precise movement capturing of human fingers and reconstruction of finger configurations. The hand exoskeleton is composed of a plurality of serial kinematic chains and a common base, each serial kinematic chain comprises one active joint and five passive joints, and a magnetic rotation angle sensor is arranged on the joint to realize movement capturing of the end of the serial kinematic chain. The serial kinematic chain forms a parallel structure with a human finger to realize six-degree-of-freedom precise movement capturing of the end of the human finger. Captured human finger tip movement is reconstructed through a circular arc fitting algorithm, and the finger movement configuration can be displayed in real time in a three-dimensional visual simulation environment. According to different requirements, the number of serial kinematic chains on the base can be increased or reduced, and hand movement can be reproduced in real time in a three-dimensional simulation environment, and experience is improved.

An aircraft rudder pedal includes a frame, a pair of pedals, an output shaft and a mechanical kinematic chain for transmitting to the output shaft a displacement of at least one of the pedals relative to the frame. The mechanical kinematic chain comprises a central transmission part able to be rotated relative to the frame by a displacement of one of the pedals relative to the frame. The mechanical kinematic chain also includes a transmission mechanism joining the central transmission part to the output shaft. The transmission mechanism includes a homokinetic association of two universal joints between said central transmission part and the output shaft.

The application discloses a Tai Chi action posture recognition and deviation correction training system and relates to the technical field of action recognition and sports training, and solves the technical problems that it is difficult to quantitatively recognize the coherence of Tai Chi actions, the guidance lags behind the actions, and the template does not match the body shape of a user. The system comprises a posture acquisition module, which acquires a user bone frame sequence and a joint angular velocity change rate; a motion trend prediction module, which adopts a rotation matrix to predict the head and a forward kinematics chain to recursively output a next frame prediction coordinate; a ghost generation module, which sets a differential matching window according to four stages of Tai Chi, generates a semi-transparent ghost by performing size normalization mapping on a three-bone segment group scale factor weighted by square roots of joint numbers, and performs size normalization mapping on a three-bone segment group scale factor weighted by square roots of joint numbers; a deviation perception module, which constructs a dynamic weight smoothness penalty term to generate a deviation correction signal; and a multi-modal feedback execution module, which maps a deviation amount into a line color and a vibration parameter, and outputs feedback according to the time sequence of vision, touch and voice.