Study on Force Interaction System of Upper Limb Rehabilitation Robot

This paper designed a novel human-machine interaction system for a Center-control upper limb rehabilitation robot. This proposed system integrates control system, force interaction system, the graphical user interface and virtual reality system based on motion intention recognition technology, control technology and servo drive technology. Emphasis is placed on the research of force interaction system, which can identify the patient's motion intention and provide the required torque for rehabilitation training. Two functional tests have been done to verify that the human-machine interaction system of the upper limb rehabilitation robot can safely and effectively complete the assistance function in the active training, and can assist patients with certain muscle strength to complete the active rehabilitation training.