ArmMotu EMU is a three-dimensional upper limb rehabilitation robot based on end control. It adopts an innovative wire drive transmission method, is equipped with a hybrid serial-parallel link structure, and uses lightweight carbon fiber material, thereby reducing the robot's own movement. Inertia and friction. Based on Fourier's independently developed and industry-leading force feedback technology platform, it simulates the compliant force control movements of the therapist's hands, outputs assistance or resistance according to demand, and realizes motion control, muscle strength and cognitive training in three-dimensional space. Bring a new rehabilitation assessment and training experience.