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This system facilitates elbow flexion and extension as well as wrist and palm flexion and extension. The experimental results demonstrate that the exoskeleton robot on the affected limb exhibits a rapid response and maintains a highly synchronized movement with the unaffected upper limb equipped with an angle sensor, preserving stability and coordination throughout the movement process without significant delay affecting the overall motion. When the movement of the unaffected upper limb exceeds the predetermined angle threshold, the affected limb promptly initiates a protective mechanism to maintain its current posture. Upon equalization of the angles between the two limbs, the affected limb resumes synchronized movement, thereby ensuring the safety of the rehabilitation training. This research provides some insights into the functional improvements of safe and reliable upper limb exoskeleton rehabilitation training systems.<\/jats:p>","DOI":"10.3390\/s25133984","type":"journal-article","created":{"date-parts":[[2025,6,26]],"date-time":"2025-06-26T11:15:23Z","timestamp":1750936523000},"page":"3984","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Development and Efficacy Assessment of an Angle Sensor-Integrated Upper Limb Exoskeleton System for Autonomous Rehabilitation Training"],"prefix":"10.3390","volume":"25","author":[{"given":"Linshuai","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Intelligent Medicine, Chengdu University of Traditional Chinese Medicine, Chengdu 611137, China"},{"name":"School of Automation, Chengdu University of Information Technology, Chengdu 610225, China"},{"name":"Engineering Research Center for Artificial Intelligence in Traditional Chinese Medicine, Chengdu 611137, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Intelligent Medicine, Chengdu University of Traditional Chinese Medicine, Chengdu 611137, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yaqi","family":"Fan","sequence":"additional","affiliation":[{"name":"School of Intelligent Medicine, Chengdu University of Traditional Chinese Medicine, Chengdu 611137, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tao","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Intelligent Medicine, Chengdu University of Traditional Chinese Medicine, Chengdu 611137, China"},{"name":"Engineering Research Center for Artificial Intelligence in Traditional Chinese Medicine, Chengdu 611137, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuoxin","family":"Gu","sequence":"additional","affiliation":[{"name":"School of Automation, Chengdu University of Information Technology, Chengdu 610225, China"},{"name":"International Joint Research Center of Robotics and Intelligence System, Chengdu University of Information Technology, Chengdu 610225, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8381-244X","authenticated-orcid":false,"given":"Lin","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Intelligent Medicine, Chengdu University of Traditional Chinese Medicine, Chengdu 611137, China"},{"name":"Engineering Research Center for Artificial Intelligence in Traditional Chinese Medicine, Chengdu 611137, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,6,26]]},"reference":[{"key":"ref_1","first-page":"105","article-title":"Stroke prevention and treatment in China still faces great challenges\u2014Summary of China Stroke Prevention and Treatment Report 2018","volume":"34","author":"Wang","year":"2019","journal-title":"Chin. 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