Research on the Control Methods of Upper Limb Rehabilitation Exoskeleton Robot

The upper limb rehabilitation exoskeleton robot is mainly used to provide scientific and effective rehabilitation training for the patients with upper limb motor dysfunction. And, the patients could realize the recovery of motor function of the affected limb and to take care of themselves in daily life. This paper reviews the research progress in control strategy of upper limb exoskeleton robots in recent years. Firstly, according to the rehabilitation needs in different periods, the existing control strategies are classified into active and passive control. The different control methods are summarized. The current research status of each control method is pointed out. Finally, some key challenges of the upper limb rehabilitation exoskeleton robot are discussed, and the future research directions are proposed.