The invention discloses a wearable
exoskeleton upper-limb
rehabilitation robot. The wearable
exoskeleton upper-limb
rehabilitation robot comprises an arm adjustment component, a
shoulder joint flexion and extension component, a
shoulder joint folding and unfolding component, an upper-limb rotational motion component, an
elbow joint flexion and extension component,, a front-arm rotational motion component, a
wrist joint flexion and extension component and a frame motor component. The arm adjustment component is fixed to the frame motor component. The arm adjustment component, the
shoulder joint flexion and extension component, the shoulder joint folding and unfolding component, the upper-arm rotational motion component, the
elbow joint flexion and extension component, the front-arm rotational motion component and the
wrist joint flexion and extension component are connected in sequence. The wearable
exoskeleton upper-limb
rehabilitation robot has the advantages that six-freedom-degree motion of flexion and extension as well as inward folding and outward unfolding of shoulder joints, internal and
external rotation of
upper arms, flexion and extension of
elbow joints, internal and
external rotation of front arms and flexion and extension of
wrist joints can be achieved, and one-freedom-degree motion of arm adjustment can be also achieved; all the joints of the upper-limb
rehabilitation robot are driven indirectly, the weight of robot arms is reduced, weight loading capability of the robot arms is improved, mechanical structure is simplified, and flexibility of the robot is improved.