Wrist rehabilitation training system based on muscle coordination and variable stiffness impedance control

A wrist rehabilitation training system based on muscle coordination and variable stiffness impedance control, comprising:

• an electromyographic signal collection and preprocessing module, comprising a surface electromyographic signal sensor, wherein the surface electromyographic signal sensor is configured to collect surface electromyographic signals and the electromyographic signal collection and preprocessing module preprocess the surface electromyographic signals;
• a processor;
• and
• a memory storing instructions that, when executed by the processor, cause the processor to perform steps comprises:
• decomposing the preprocessed surface electromyographic signals through a non-negative matrix factorization method and to train a multi-layer perception model regression network to establish a surface electromyographic signal and joint angle mapping model and a surface electromyographic signal and human stiffness mapping model;
• controlling an agent in a virtual environment;
• and
• generating a virtual reality game configured to generate game difficulty and virtual interference suitable for rehabilitation training of a user and provide visual feedback.