Force sensing and control technology is essentially a kind of bionic behavior and belongs to behavioral
intelligence. It has long been considered a research hotspot in science and engineering field
and has been widely applied in the fields of robotics, artificial intelligence, and intelligent ultraprecision
manufacturing. However, since its birth, force sensing and control technology has faced
many challenges and bottlenecks in force perception, force generation, and force control. As the
power source of the human body, research on force generation mechanism, sensing, and control
have always been one of the most attractive and challenging research topics.*