Man-machine sharing control method for heavy-load mechanical arm in emergency rescue environment

The invention discloses a man-machine sharing control method for a heavy-load mechanical arm in an emergency rescue environment, which comprises the following steps: acquiring an electromyographic signal, a blinking frequency, an operation duration, an operation age and an operation speed of an operator in real time to evaluate the state of the operator; the maximum displacement change difference, the acceleration, the load, the moving speed and the rotating angle information of the tail end of the mechanical arm are obtained to evaluate the state of the mechanical arm, the difficulty degree of an emergency rescue task is evaluated according to the operation time requirement, the target positioning precision and the load requirement information, and a mode of combining weighting and a sigmoid function is adopted. A man-machine mutual trust model considering the operator state, the mechanical arm state and the emergency rescue difficulty degree is constructed, the man-machine mutual trust degree is obtained in