Rehabilitation robot, as an important branch of medical robotics, has become an international research hotspot in the field of robotics as its research runs through many fields such as rehabilitation medicine, biomechanics, mechanics, mechanical mechanics, electronics, materials science, computer science and robotics. At present, rehabilitation robots have been widely used in rehabilitation care, prosthetics and rehabilitation therapy, which not only promotes the development of rehabilitation medicine, but also drives the development of new technologies and new theories in related fields.