The invention discloses a method for automatically adjusting the magnitude of force applied to a
lotus pot, and the method comprises the steps: firstly carrying out three-dimensional
perception and planning, and obtaining the normal direction and local surface curvature of the
skin surface where an acupoint is located; then the six-degree-of-freedom mechanical arm is controlled to conduct initial positioning and make contact with the
skin; performing contact posture self-adaptive correction through a six-dimensional
force sensor to enable the bottom of the
lotus pot to be uniformly attached to the surface of the
skin; and then closed-loop force
control force application is conducted, the pressing depth of the six-degree-of-freedom mechanical arm in the normal direction is dynamically adjusted, and finally multiple
safety monitoring and dynamic compensation are conducted. According to the invention, the hand feeling of a deep physiotherapist can be simulated, the three-dimensional shape of a treatment area can be actively sensed, and force and torque in a three-dimensional space can be accurately controlled in a real-time and closed-loop manner, so that a real-sense intelligent, personalized and safe
lotus pot treatment method is realized.