An immersive upper limb rehabilitation training system, comprising: a two-arm rehabilitation robot (4), a base (5), position trackers (6-1, 6-2), a VR hamlet (7), force feedback data gloves (8), an upper computer controlling center (10), and passive compliant end executors (3). The two-arm rehabilitation robot (4) is mounted on the base (5), and drives, by means of two passive compliant end executors (3), patient's arms to move. A vision sensor (2) is used for recording the movement of patient's arms and feedback controlling the two-arm rehabilitation robot (4) to move. The position trackers (6-1, 6-2) are used for collecting in real time position posture information of patient's arms and loading the information into the upper computer controlling center (10). The VR hamlet (7) is worn on patient's head. The force feedback data gloves (8) are worn on patient's hands. The passive compliant end executors (3) respectively are worn on patient's forearm and upper arm. The upper computer controlling center (10) is used for issuing quantitative indexes and controlling the display of visual training pictures. The immersive upper limb rehabilitation training system makes the upper limb rehabilitation training process safe, scientific, interesting, systematic and digital.
IMMERSIVE UPPER LIM REHABILITATION TRAINING SYSTEM