The invention discloses a seven-degree-of-freedom series-parallel
upper limb exoskeleton rehabilitation robot which can perform
rehabilitation training on three joints of shoulders, elbows and wrists of upper limbs of a
human body in seven
degrees of freedom. The seven-degree-of-freedom series-parallel
upper limb exoskeleton rehabilitation robot comprises a driving mechanism, a base, a
shoulder joint exoskeleton mechanism, an
elbow joint exoskeleton mechanism and a
wrist joint exoskeleton mechanism. The
robot can realize rehabilitation forms of three movement freedom degrees of forward flexion / backward extension, adduction / abduction and inward / outward rotation of the
shoulder joint, rehabilitation forms of flexion / extension freedom degrees of the
elbow joint, rehabilitation forms of three movement freedom degrees of
dorsal flexion / palmar flexion and radial flexion / ulnar flexion of the
wrist joint and pronation / supination of the
forearm. According to the seven-degree-of-freedom series-parallel
upper limb exoskeleton
rehabilitation robot, the shoulder joints are driven by the motors, the
wrist joints are driven by flexible ropes, the
rehabilitation robot has the advantages of being good in flexibility and small in
inertia when rotating through rigid-flexible
coupling, the rotating centers of all the joints of the robot are better attached to the rotating centers of the human joints, and the rehabilitation
treatment effect of a patient is improved.