Wearable upper limb rehabilitation training robot with precise force control

A wearable upper limb rehabilitation training robot with precise force control, comprising:

• a robot arm, comprising a base, a plurality of joints, a plurality of active actuators for driving the plurality of joints, and a rigid L-shaped connecting member, wherein a first end of the L-shaped connecting member is coupled to the base, on which a first active actuator of the plurality of actuators is mounted and is configured to rotate the L-shaped connecting member around a first axis at the first end as a first joint of the plurality of joints, and a second end of the L-shaped connecting member is coupled to a bracket that is connected to a connecting rod of the robot arm, wherein a second active actuator of the plurality of active actuators is mounted on the L-shaped connecting member and is configured to rotate the bracket around a second axis that is oriented differently from said first axis as a second joint of the plurality of joints, and wherein a force/torque sensor is mounted on a tip of the robot arm, to detect a force applied to an upper limb of a patient by the robot arm during rehabilitation training;
• a wearable part, connected to the base of the robot arm;
• and
• a control box, comprising an actuator location reading module, an actuator driving module, a communication module, a power module, and a microcontroller, wherein the actuator location reading module is configured to read angular information of the plurality of active actuators, the actuator driving module is configured to convert an instruction of the microcontroller into an instruction executable by the plurality of active actuators, and the communication module controls bidirectional data communication between the robot arm and the control box, the bidirectional data communication comprising active actuator data and force/torque sensor data;
• wherein during the rehabilitation training, the tip of the robot arm is configured to be in contact with a hand of the patient, the plurality of active actuators drive the plurality of joints to move, the tip of the robot arm is configured to apply the force to the hand, the actuator location reading module obtains the angular information of the plurality of active actuators, and transmits the angular information to the microcontroller, the force/torque sensor detects the force applied to the upper limb of the patient by the robot arm, and feeds back the force to the microcontroller, the microcontroller adjusts, according to the angular information and a magnitude of the force, an operating state of the plurality of active actuators, to realize the precise force control during the rehabilitation training.