中文摘要：

在传统治疗方法中主要由医务人员来辅助偏瘫患者完成康复训练,为减轻医务人员的劳动强度、提高康复训练的效果,基于阻抗控制方法为四自由度上肢康复机器人设计控制系统,实现康复机器人辅助患者完成康复训练.对控制方法进行分析后基于工业控制计算机搭建硬件平台,并分别对单关节运动、多关节连动进行理论分析、软件仿真,信号测试和样机实验.基于阻抗控制的上肢康复机器人控制系统能实现辅助患者完成沿规划轨迹的被动训练和跟随患者运动意识的主动训练.

英文摘要：

In traditional method,the patients with hemiplegia were assisted mainly by medical personnel to complete rehabilitation training.To reduce the labor intensity of the medical personnel and improve the effect of rehabilitation training,the control system of a four DOF upper limb rehabilitation robot was designed based on impedance control to assist the patients with hemiplegia to complete rehabilitation training,then finished the analysis,simulation,testing and experiment of monarticular movement and multiarticulate movement after the analyzing the algorithm and building the experimental platform.The control system based on impedance control of the upper limb rehabilitation robot can realize the passive movement training which followed the planned trajectory,and initiative training which follawed patients＇ awareness of movement.