A multimodal interaction-based rehabilitation robot training system for compensatory movement of a hemiplegic upper limb. The system comprises a compensatory movement monitoring module (2), a compensatory movement evaluation module (3), and a compensatory movement inhibition module (1). The compensatory movement inhibition module (1) consists of a robot body (1-1) and a virtual reality system (1-2). The robot body (1-1) helps a hemiplegic upper limb perform rehabilitation movement training, and adjusts a training action according to a compensatory monitoring result and a compensatory evaluation result to implement passive inhibition of compensatory movement of the hemiplegic upper limb. The compensatory movement monitoring module (2) acquires data during a rehabilitation training process. The compensatory movement evaluation module (3) processes and analyzes comprehensive data of the hemiplegic upper limb to obtain the compensatory evaluation result. The virtual reality system (1-2) displays a rehabilitation training scene, a real-time movement posture of the hemiplegic upper limb, and the compensatory evaluation result, and instructs, using visual display and a voice prompt, a patient to inhibit the compensatory movement. The rehabilitation robot training system implements the monitoring, evaluation, and inhibition of the compensatory movement in upper limb rehabilitation training, helps a patient move properly, and enhances a movement function of a hemiplegic upper limb.
MULTIMODAL INTERACTION-BASED REHABILITATION ROBOT TRAINING SYSTEM FOR COMPENSATORY MOVEMENT OF HEMIPLEGIC UPPER LIMB