The invention relates to an 
upper limb rehabilitation robot control system. An upper computer transmits instructions to an MCU (micro-programmed 
control unit) module through a 
Bluetooth / WIFI, the MCUmodule selects different training 
modes according to the instructions, a voice module identifies unspecific voice, voice signals are acquired and processed and transmitted to the MCU module by the aidof an SPI (serial 
peripheral interface) communication protocol, a driving module drives a motor to rotate in a controlled manner, so that training actions are completed, 
electromyography collection of a healthy side of a patient is implemented by an 
electromyography control module, 
electromyography signals are extracted, processed and analyzed, actions of the healthy side of the patient map a mechanical arm, movement intentions are identified, and functional compensation and control is achieved. By the aid of various man-
machine interaction 
modes, targeted 
rehabilitation training effects canbe effectively achieved, joints of the 
upper limb of the patient can be accurately positioned when the 
system is used, and 
tissue damage and pulled 
muscle caused by misplaced training are avoided. Thecontrol 
system is small in size, convenient to use, good in 
training effect and low in manufacturing cost.