▎ 摘　　要

NOVELTY - The robot arm has a driving device which drives the robot arm to move. A piezoelectric layer is composed of a piezoelectric composite thin film having a microstructure. A gold electrode is sprayed on the composite film. A piezoresistive layer is composed of a graphene film having a microstructured poly-dimethyl-siloxane (PDMS) sprayed on a surface of a gold electrode having a microstructure. The microstructure is a regular quadrangular microarray. The ratio of an upper bottom surface side length and a lower bottom surface side length of the regular quadrangular platform to an array height satisfies predetermined equation satisfying the first variable, second variable, third variable, elastic stiffness constants, piezoelectric stress constant and dielectric constant, length of the side of the bottom of the square table, pressure, time and the internal resistance of the voltmeter and output voltage of the piezoelectric layer. USE - Man-machine cooperation robot arm. ADVANTAGE - The man-machine cooperation robot arm provides a control method for a mechanical arm similar to a human arm, has stronger adaptability and can reduce user learning costs. DESCRIPTION OF DRAWING(S) - The drawing shows a block diagram illustrating the signal processing of the man-machine cooperation robot. (Drawing includes non-English language text)