A force sense information based limb motion intention recognizing and rehabilitation training robot (11) control method, comprising a force sense information based limb motion intention recognizing model and a three-degree-of-freedom upper limb rehabilitation training robot (11) control method based on the motion intention recognizing model. The method comprises: data of a three-dimensional force and a three-dimensional torque is acquired by means of a six-dimensional force sensor (5) held in hands; the force and the torque produced by palms (4), forearms (3), upper arms (2) of a human body are calculated according to a constructed human arm model to achieve recognition of limb motion intention; the six-dimensional force sensor (5) is fixed at an end rocking bar (13) of the three-degree-of-freedom upper limb rehabilitation training robot (11); and the motion intention of human arms (9) are acquired on the basis of the motion intention recognition method, and control of the rehabilitation training robot (11) is implemented so as to achieve auxiliary active training under a weak active force.
FORCE SENSE INFORMATION AND POSTURE INFORMATION BASED LIMB MOTION INTENTION UNDERSTANDING AND UPPER LIMB REHABILITATION TRAINING ROBOT CONTROL METHOD