A method and device for motion intention recognition and assistance of a human upper limb based on a three-dimensional force sensor. The upper limbs of the human body are equipped with an exoskeleton manipulator. The method comprises the following steps: collecting three-dimensional force data between the exoskeleton manipulator and the upper limb of the human body in real time; acquiring position data of each exoskeleton manipulator joint at the current time point; obtaining desired position data at the next time point of each exoskeleton manipulator joint by calculating the three-dimensional force data and the position data at the current time point; generating a control signal for driving the exoskeleton manipulator according to the position data at the current time point and the desired position data at the next time point of the exoskeleton manipulator; and controlling the exoskeleton manipulator to perform the corresponding motion according to the control signal to assist the upper limb of the human body.
HUMAN UPPER LIMB MOTION INTENTION RECOGNITION AND ASSISTANCE METHOD AND DEVICE