为解决脑卒中疾病（cerebrovascular accident, CVA）导致的上肢偏瘫患者在康复过程中不规范以及康复医师不足的问题，提出一种5自由度（degree of freedom, DOF）上肢肘腕关节康复机器人及控制系统，旨在更好地满足患者灵活康复的需求。康复机器人平台为3-RRR（3-转动副-转动副-转动副）串联机构，能够实现独立肘关节屈伸康复、独立腕关节屈伸和内外旋康复、肘腕关节协同屈伸康复、肘关节屈伸腕关节内外旋协同康复功能，同时考虑到患者左右偏瘫部位不同的情况，康复机器人设置镜像功能。触摸屏和控制器（planar lightwave circuit, PLC）进行通信，可以实现人机交互。使用Matlab软件运用蒙特卡洛法（Monte-Carlo, M-C）绘制机器人工作空间云图，从而进行更有效的任务规划和操作控制。结果表明：所设计研制的样机能够满足上肢肘腕关节多种模式下的运动康复，可以对屈肌群和伸肌群进行训练。

To address the issues of non-standard rehabilitation processes among upper-limb hemiplegic patients caused by cerebrovascular-accident (CVA) and the shortage of rehabilitation physicians, a 5-degree-of-freedom (DOF) upper-limb elbow-wrist joint rehabilitation robot and its control system was proposed, aiming to better meet the flexible rehabilitation needs of patients. The rehabilitation robot platform is a 3-RRR serial mechanism, which can achieve independent elbow joint flexion-extension rehabilitation, independent wrist joint flexion-extension and internal-external rotation rehabilitation, coordinated elbow-wrist joint flexion-extension rehabilitation, and coordinated elbow joint flexion-extension and wrist joint internal-external rotation rehabilitation. Also, considering the different hemiplegic sides of patients, the rehabilitation robot was equipped with a mirror function. The touch screen communicates with the planar-lightwave circuit (PLC) to enable human-machine interaction. Matlab software was used to draw the workspace cloud map of the robot by the Monte-Carlo (M-C) method, so as to carry out more effective task planning and operation control. The results show that the developed prototype can meet the movement rehabilitation of the upper-limb elbow-wrist joint in multiple modes and can train both the flexor and extensor muscle groups.