The performance of the real-time dynamic force and torque compensation, flexible force interactive control, and the ability to compensate for the defect of the passive rehabilitation training are the important functions within the rehabilitation robot design process. In this investigation, the upper limb rehabilitation robot is designed, and the force sensor is used to measure the joint feedback torque with high precision, high sensitivity, and low cost. In the rehabilitation robot design process, the human–machine adaptability and lightweight flexible driving design are considered, and the static and dynamic moment detection performances of the driving joint are analyzed. Furthermore, the impedance control algorithm is used to control the force output of the single drive joint, and then the sinusoidal force output performance and step force output performance are tested under different amplitudes and frequencies. Finally, the passive rehabilitation mode of the prototype is tested to evaluate the performance of the rehabilitation robot. The results show that the force output accuracy and stability of the driving joint has a good performance, which can satisfy the force-assisted application of exoskeleton.

实时动态力和扭矩补偿的性能，灵活的力交互控制以及补偿被动康复训练的缺陷的能力是康复机器人设计过程中的重要功能。在这项研究中，设计了上肢康复机器人，并使用力传感器以高精度，高灵敏度和低成本来测量关节反馈扭矩。在康复机器人的设计过程中，考虑了人机适应性和轻巧灵活的驾驶设计，并分析了驾驶关节的静态和动态力矩检测性能。此外，阻抗控制算法用于控制单个驱动关节的力输出，然后在不同的振幅和频率下测试正弦力输出性能和阶跃力输出性能。最后，测试了原型的被动康复模式，以评估康复机器人的性能。结果表明，驱动关节的力输出精度和稳定性均良好，可以满足外骨骼力辅助应用。