Exoskeleton type upper limb rehabilitation robot with man-machine interaction kinetic model

The invention provides an exoskeleton type upper limb rehabilitation robot with a man-machine interaction kinetic model. In the rehabilitation training process, upper limbs of a human body are regarded as a two-connecting-rod mechanism with three freedom degrees, a kinetic model of the two-connecting-rod mechanism is combined with the kinetic model of the exoskeleton type upper limb rehabilitation robot, and the exoskeleton type upper limb rehabilitation robot with the man-machine interaction kinetic model is formed. The robot can judge the motion intention of a patient by comparing the joint force moment estimation value with the actually-measured force moment value. The exoskeleton type upper limb rehabilitation robot with the man-machine interaction kinetic model can accurately recognize the motion intention of the upper limbs of the patient in application of engineering, data are stable and reliable, recognition and judgment results are accurate, and the exoskeleton type upper limb rehabilitation robot has expectable great economic values and social values.