According to the anatomical and kinematic features of the upper limb, combined with human-robot compatibility, this paper introduces the structural design of the ULR-EXO, the classification of execution, and the existing problems, summarizes the status quo of perceptual information, and classifies signal sources according to the signals generated by stroke patients in human-robot interaction. A unified analysis of their essential anatomical characteristics and rehabilitation training needs will help to understand the future development trend of the ULR-EXO. ![]() Execution and perception are the two most important technologies of ULR-EXO. Due to the lack of therapists and the demand for objective rehabilitation training indicators, the upper limb rehabilitation exoskeleton (ULR-EXO) has attracted more and more concentration.
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