In the vast technical system of humanoid robots, high-precision force-controlled joints play a crucial role and can be regarded as the core "joints" of humanoid robots. Structurally and functionally, it shares many similarities with human joints, yet it incorporates advanced technological elements, endowing the robot with unique movement capabilities.


Human joints, such as the knee joint and shoulder joint, are the hubs of body movement. They not only connect to bones but also, driven by muscles, can perform various complex and flexible movements, such as walking, running, grasping, and swinging. Moreover, human joints possess outstanding force perception capabilities and can automatically adjust the magnitude and direction of force according to different tasks and environments to achieve precise operations. For instance, when we pick up a fragile glass cup, our hand joints can precisely sense the required force. We neither crush the cup with excessive force nor let it slip due to insufficient force. When creating calligraphy, the wrist joint can flexibly control the force and Angle of the brush to produce beautiful strokes.


The high-precision force-controlled joints of humanoid robots also shoulder the important responsibility of connecting the robot's limb components and achieving motion transmission. It generally integrates multiple key components such as motors, reducers, encoders, and force sensors, and is a highly integrated mechatronic module. Motors provide power to joints just as human muscles provide strength. The reducer can reduce the rotational speed of the motor while amplifying the torque, making the robot's movements more stable and powerful. Encoders are used to precisely measure the position and Angle of joints, providing accurate data feedback for the motion control of robots. The role of the force sensor is of vital importance. It can sense the force and moment acting on the joint in real time, enabling the robot to have the ability of force perception and force control. This is also the core of high-precision force-controlled joints.

High-precision force-controlled joints play a decisive role in the movement flexibility, accuracy and interaction ability of humanoid robots. In terms of movement flexibility, it can achieve multi-degree-of-freedom movement, enabling the robot's limbs to rotate and bend as flexibly as those of humans, and complete various complex movement combinations. For instance, some humanoid robots can perform dance movements with the help of high-precision force-controlled joints. Their joints can quickly and smoothly switch the direction and Angle of movement, presenting graceful dance postures, which was difficult to achieve in robots that previously lacked high-precision force-controlled joints.


In terms of motion accuracy, high-precision force-controlled joints, with their precise force perception and control capabilities, can keep the motion error of robots within an extremely small range. Whether it is for the precise assembly of tiny parts or assisting doctors in precise operations during surgery, high-precision force-controlled joints can ensure that the robot's movements are accurate and error-free. For instance, in the field of electronic manufacturing, humanoid robots utilize high-precision ford-controlled joints to accurately place tiny electronic components at designated positions, with an accuracy reaching the millimeter or even micrometer level, significantly enhancing production efficiency and product quality.


In terms of interaction capabilities, high-precision force-controlled joints enable humanoid robots to interact better with humans and the environment. When a robot comes into contact with a human, it can sense the force exerted by the human through a force sensor and respond accordingly, achieving friendly and safe human-machine collaboration. For instance, in rehabilitation care scenarios, humanoid robots can assist patients in rehabilitation training based on their strength feedback, providing appropriate support without causing any harm to them. In service scenarios, robots can engage in natural physical interactions with humans, such as shaking hands and guiding, enhancing the friendliness and experience of the service.

In the development process of high-precision force-controlled joints for humanoid robots, technological innovation of core components has played a foundational role. Motors, as power sources, are making great strides towards high performance and miniaturization. Take frameless torque motors as an example. They are gradually becoming the mainstream choice in the joint drive of humanoid robots. This type of motor features a compact size, high power, and large torque output at low speeds, among other remarkable characteristics. It can provide strong and precise power support for robot joints.


As a key component connecting the motor and the load, the reducer directly affects the transmission efficiency, accuracy and stability of the robot's joints. The new type of reducer is constantly innovating in design and manufacturing process, reducing volume while significantly improving transmission efficiency.


Encoders are used to precisely measure the position and Angle of joints and are key feedback components for achieving high-precision motion control. Nowadays, multi-turn absolute encoders have been widely applied in humanoid robots due to their advantages such as high precision, reliability and durability. It can provide real-time and accurate feedback on the position information of the joints. Even in the event of power failure or complex environments, it can ensure the robot's precise perception of the joint position, providing a stable and reliable data foundation for subsequent motion control, thus making the robot's movements more accurate and smooth.

The controller is like the "brain" of the robot's joints, responsible for coordinating the work of each component and achieving precise control over the joint force and movement. With the continuous advancement of chip technology and control algorithms, the computing speed and control accuracy of controllers have been significantly enhanced. Some advanced controllers adopt multi-core processors and dedicated control chips, which can quickly process a large amount of sensor data and adjust the motor output in real time according to the preset algorithm, achieving precise control of joint force. This enables robots to make rapid and accurate motion responses in complex tasks and environments.

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