Abstract: An immersive upper limb rehabilitation training system includes a dual-arm rehabilitation robot, a base, a position tracker, a VR headset, a force-feedback glove, a host computer control center and passive compliant end-effectors. The dual-arm rehabilitation robot is mounted on the base, and drives an arm of a patient to move through two passive compliant end effectors. The visual sensor is used for recording a motion of an upper limb of the patient and feedback-controlling a motion of the dual-arm rehabilitation robot. The position tracker is used for real-time collecting position and posture information of the arm and transmitting it to the upper computer control center. The two passive compliant end-effectors are respectively worn on a forearm and an upper arm of the patient. The upper computer control center is used to provide a quantitative index and control a display of a training screen.

Abstract: Disclosed is a rehabilitation robot training system for monitoring and suppressing the compensatory movement of a hemiplegic upper limb. The system includes an upper computer control center, an interaction display screen, a force feedback glove, a position tracker, upper limb rehabilitation robot tail end connectors, an upper limb rehabilitation robot, a base and a pressure cushion. One upper limb rehabilitation robot tail end connector is mounted on a tail end of each of two robotic arms of the upper limb rehabilitation robot, and the upper limb rehabilitation robot tail end connectors are respectively worn on an upper arm and a forearm of a patient to drive an arm to move; the upper computer control center stores and processes data, collected by the position tracker, the force feedback glove and the pressure cushion in real time, of the patient, and monitors and analyses whether the patient does a compensatory gesture.

Abstract: A multimodal human-robot interaction system for compensation movement of a hemiplegic upper limb includes a compensation monitoring module, a compensation evaluation module and a compensation reducing module. The compensation reducing module includes a robot and a virtual reality system. The robot assists the hemiplegic upper limb in performing rehabilitation training, and adjusts a training action according to a compensation monitoring result and evaluation of compensation to realize passive reducing of compensation movement of the hemiplegic upper limb. The compensation monitoring module acquires data during a rehabilitation therapy. The compensation evaluation module processes and analyzes comprehensive data of the hemiplegic upper limb to obtain the evaluation of compensation.

Abstract: A multimodal human-robot interaction system for upper limb rehabilitation, including an electroencephalography signal acquisition and processing module, a robot module, a comprehensive affected upper limb muscle signal acquisition and processing module, a rehabilitation training evaluation module, and a virtual reality module. The electroencephalography signal acquisition and processing module captures a motion intention of a patient by means of electroencephalography signals to trigger rehabilitation training. The robot module assists an affected upper limb with rehabilitation exercise. The comprehensive affected upper limb muscle signal acquisition and processing module acquires and obtains a comprehensive assessment of the affected upper limb. The rehabilitation training evaluation module is used for processing and analyzing the comprehensive assessment of the affected upper limb, so as to obtain a quantitative evaluation of the affected upper limb during rehabilitation training.

Abstract: An interactive upper limb rehabilitation training system includes an interactive display screen, a host computer control center, a dual-arm rehabilitation robot, a movable space adjustable dual-arm robot base, and a position tracker. The dual-arm rehabilitation robot is mounted on the movable space adjustable dual-arm robot base, and drives an arm of a patient to move through two end effectors. The movable space adjustable dual-arm robot base adjusts an operating space of the dual-arm rehabilitation robot. The position tracker is used for real-time collecting position and posture information of the arm, and transmitting it to the host computer control center and the interactive display screen. The interactive display screen is used for synchronous operating a game by the position and posture information. The host computer control center is used to store patient information, and is used to provide a quantitative index after evaluating a rehabilitation process of the patient.

Abstract: An immersive upper limb rehabilitation training system includes a dual-arm rehabilitation robot, a base, a position tracker, a VR headset, a force-feedback glove, a host computer control center and passive compliant end-effectors. The dual-arm rehabilitation robot is mounted on the base, and drives an arm of a patient to move through two passive compliant end effectors. The visual sensor is used for recording a motion of an upper limb of the patient and feedback-controlling a motion of the dual-arm rehabilitation robot. The position tracker is used for real-time collecting position and posture information of the arm and transmitting it to the upper computer control center. The two passive compliant end-effectors are respectively worn on a forearm and an upper arm of the patient. The upper computer control center is used to provide a quantitative index and control a display of a training screen.