Abstract: Disclosed is an optimization modeling and robust control method for a soft robot based on a fusion prediction equation, including the following steps: deriving measurement coordinates based on the fusion prediction equation; designing an observation function based on the measurement coordinates; identifying a Koopman model based on the observation function; and designing a robust model predictive controller based on the Koopman model. Further disclosed are a fusion prediction equation and a derivation method thereof, which can derive correct, abundant but non-redundant measurement coordinates, overcoming the problem of single measurement coordinates in a soft robot system, thereby being conducive to simplifying a design process of the observation function and further improving the accuracy of the Koopman model for the soft robot.

Abstract: Disclosed is a lightweight hand exoskeleton force feedback apparatus, including a driver, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a finger sleeve, and a pressure sensor fixing member; the driver is worn on a back of metacarpal bone of a human hand, the finger sleeve is fixed on an index finger, and the pressure sensor fixing member is fixed below the index finger; when the human hand bends to simulate a state of grasping an object, the driver drives the first rotating link to couple with the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to bend and stretch, force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, so that closed-loop force feedback control is implemented.

Abstract: Disclosed is a safety shared control system based on performance of teleoperator, including a master teleoperation system, a slave robotic manipulator system and a communication module; where the master teleoperation system includes EEG signal measurement of a teleoperator, hand controller operation input, and upper computer software, and the upper computer software includes a graphical user interface (GUI), safety simulation for protecting the safety of a robot, and a PoT model; and the slave robotic manipulator system includes a robotic manipulator, a vision camera and lower computer software, and the lower computer software includes a target recognition algorithm, an autonomous controller, and a shared controller for dynamically allocating human-robot control weights.

Abstract: A method for suppressing a narrow pulse is provided. The method is applied to a bridge switch circuit having at least one bridge arm which has an upper switch transistor and a lower switch transistor, and includes: detecting whether an original comparison value of a modulated wave in a current cycle is in a preset narrow pulse interval of the upper switch transistor, and if so, determining an adjustment interval of the upper switch transistor to which the original comparison value of the modulated wave currently pertains; and adjusting the original comparison value of the modulated wave to an adjusted comparison value of the modulated wave corresponding to the adjustment interval of the upper switch transistor to which the original comparison value of the modulated wave currently pertains according to a corresponding relationship between adjustment intervals of the upper switch transistor and adjusted comparison values of the modulated wave.

Abstract: A method for suppressing a narrow pulse is provided. The method is applied to a bridge switch circuit having at least one bridge arm which has an upper switch transistor and a lower switch transistor, and includes: detecting whether an original comparison value of a modulated wave in a current cycle is in a preset narrow pulse interval of the upper switch transistor, and if so, determining an adjustment interval of the upper switch transistor to which the original comparison value of the modulated wave currently pertains; and adjusting the original comparison value of the modulated wave to an adjusted comparison value of the modulated wave corresponding to the adjustment interval of the upper switch transistor to which the original comparison value of the modulated wave currently pertains according to a corresponding relationship between adjustment intervals of the upper switch transistor and adjusted comparison values of the modulated wave.