Abstract: The present application relates to the field of rehabilitation robotics, and discloses an upper limb training system and method and a readable storage medium. The system includes a training guidance unit, a signal acquisition unit, a signal processing unit, and a training unit. The training guidance unit shows training content to a subject to guide the subject to perform motor imagery. The signal acquisition unit acquires an electroencephalography (EEG) signal of the subject and sends the EEG signal to the signal processing unit. The signal processing unit recognizes a steady-state visual evoked potential (SSVEP) and a movement-related cortical potential (MRCP) generated by the subject in response to the training content. When the SSVEP is detected, the training unit generates a training instruction to assist the subject in active training, thereby improving the accuracy of brain control.