System and method for six-axis force sensor haptic interaction based on the internet of things

A method for six-axis force sensor haptic interaction based on an Internet of Things (IoT), implemented by a management platform and a rehabilitation device terminal of a perception control platform of a system for six-axis force sensor haptic interaction based on the IoT, the method comprising:

• collecting, via a six-axis force sensing assembly and at a preset sampling frequency, real-time haptic force data of a target part of a patient;
• obtaining device operation data of an actuator from the perception control platform;
• and transmitting the real-time haptic force data and the device operation data to the management platform, wherein the device operation data includes a packet loss rate of a communication link;
• determining local control parameters based on rehabilitation data of the patient, the real-time haptic force data, and the device operation data, and transmitting the local control parameters to the perception control platform, wherein the local control parameters include a network tolerance threshold and a protection action parameter;
• in response to the packet loss rate of the communication link being less than or equal to the network tolerance threshold, obtaining a remote control instruction from the management platform, modifying driving parameters of the remote control instruction based on the real-time haptic force data to determine modified driving parameters, and driving the actuator to perform motion based on the modified driving parameters;
• in response to the packet loss rate of the communication link being greater than the network tolerance threshold, driving the actuator to perform motion based on the protection action parameter.

A non-transitory computer-readable storage medium storing computer instructions that, when read and executed by a computer, cause the computer to perform a method for six-axis force sensor haptic interaction based on an Internet of Things (IoT), the method comprising:

• collecting, via a six-axis force sensing assembly and at a preset sampling frequency, real-time haptic force data of a target part of a patient;
• obtaining device operation data of an actuator from a perception control platform;
• and transmitting the real-time haptic force data and the device operation data to a management platform, wherein the device operation data includes a packet loss rate of a communication link;
• determining local control parameters based on rehabilitation data of the patient, the real-time haptic force data, and the device operation data, and transmitting the local control parameters to the perception control platform, wherein the local control parameters include a network tolerance threshold and a protection action parameter;
• in response to the packet loss rate of the communication link being less than or equal to the network tolerance threshold, obtaining a remote control instruction from the management platform, modifying driving parameters of the remote control instruction based on the real-time haptic force data to determine modified driving parameters, and driving the actuator to perform motion based on the modified driving parameters;
• in response to the packet loss rate of the communication link being greater than the network tolerance threshold, driving the actuator to perform motion based on the protection action parameter.