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Traditional interactive control system of upper limb rehabilitation robot is affected by singular configuration, which leads to low control accuracy. Therefore, an interactive control system of upper limb rehabilitation robot based on force impedance model is proposed. The structure of the interactive control system of the upper limb rehabilitation robot is designed. The dual serial port 12csa60s2 series single-chip microcomputer is selected as the control core module of the lower machine. The elbow structure of the manipulator is designed by changing the driving force direction with the vertebral gear. The device is hidden in the empty handle through the synchronous belt transmission. The arm wrist structure was designed to meet the needs of standing and sitting posture training of upper limb patients in clinical rehabilitation. The foil type strain gauge bf350 force sensor is selected, and the resistance strain gauge bridge circuit is designed to process the transmission signal. The target impedance model of the robot is constructed, and the control strategy based on force impedance is designed to adjust the position, speed and joint. In order to improve the singular configuration, the joint angular velocity command near the singular configuration is directly obtained by the torque damping control of each joint to realize the accurate output of angular velocity and complete the system control. The experimental results show that the tracking results of linear motion position, rotation joint position and telescopic joint position are basically consistent with the standard value, which meets the system design requirements.