The invention discloses an
upper limb rehabilitation training
robot. The
upper limb rehabilitation training
robot comprises a pedestal, an ergonomic seat, a
rehabilitation mechanical arm and a man-
machine interaction control cabinet, wherein the pedestal is provided with a height adjusting mechanism and a transversing mechanism; the transversing mechanism is provided with a suspending arm; the rehabilitation mechanical arm comprises a shoulder abduction / adduction joint, a shoulder bending / stretching joint, an upper arm, an
elbow joint, a front arm inward turning / outward turning joint, a front arm, a
wrist bending / stretching joint, a palm and fingers, wherein the shoulder abduction / adduction joint is arranged on the suspending arm; the shoulder bending / stretching joint is connected with the shoulder abduction / adduction joint; the front arm is connected with the upper arm by the
elbow joint and provided with the front arm inward turning / outward turning joint; the palm is connected with the front arm by the
wrist bending / stretching joint and connected with the fingers by a connecting rod; the upper arm, the front arm and the palm are fixedly connected with three force sensors; and the sensor fixedly connected to the upper arm is a two-dimensional sensor. The
robot provides composite rehabilitation motion for each joint of the
upper limb of a patient in a three-dimensional space and can finish the
rehabilitation training of the upper limb with high quality.