中文摘要：

针对中风病人和上肢受伤的康复医疗需要，设计了一种基于ARM＋uClinux的嵌入式控制系统的康复训练机器人，阐述了系统机构设计、硬件电路设计及系统软件设计。康复训练牵引机械臂采用位置传感器和力传感器实时监测运动速度和牵引力／阻力，以实现多种训练模式。该系统可以实现手动训练、自动训练和基于网络的远程训练。实验结果表明：系统稳定可靠，能够辅助医生对病人进行康复训练医疗。

英文摘要：

Aiming at the needs of rehabilitation of stroke patients and upper limb injuries, a rehabilitation training robot based on ARM ＋ uClinux embedded control system is designed. The design of mechanical structure, hardware and software is elucidated. The rehabilitation training traction manipulator can monitor the real-time speed and traction/resistance to fulfill a variety of training modules by the force sensor and position sensor. The system can achieve manual training, automatic training and intemet-based remote training. The experiment results show that the system is stable, reliable and the system is able to help the doctor train the patient.