Robot assisted rehabilitation training method based on RGB-D camera and IMU sensor

The invention discloses a robot assisted rehabilitation training method based on an RGB-D camera and an IMU sensor. The robot assisted rehabilitation training method is implemented through a rehabilitation robot including the RGB-D camera and the IMU sensor, and includes the steps: collecting using three-dimensional spatial azimuth trajectory data of a limb by using the RGB-D camera, and collecting attitude angle information data of the limb by using the IMU sensor; based on the three-dimensional spatial azimuth trajectory data and the attitude angle information data respectively, obtaining two sets of data of shoulder joint abduction and adduction angle, shoulder joint flexion and extension angle, shoulder joint internal and external rotation angle and elbow joint flexion and extension angle by using an algorithm; obtaining stable and reliable trajectory data of the target patient by fusing the obtained two sets of angle data by a fusion filter; and establishing an assisted rehabilitation training virtual en