Abstract: In order to meet the need of limb rehabilitation, the control system that takes programmable logic controller (PLC) as the core was studied based on analysis of mechanical structure and working principle for the rehabilitation training device. The function and characteristics of hardware are analyzed for control system, overall hardware scheme design is completed. Then different training modes of software are developed, in which touch screen as a host computer, is responsible for human-computer interaction, control instructions transmission and information display; PLC as lower machine, receives control instructions and acquires data from sensor, controls torque and speed of the motor. Patients can choose training mode according to their specific situations. Experimental results show that control system is stable and reliable in performance.

Key words: rehabilitation training device, control system, training mode, programmable logic controller