The invention discloses a
wrist joint
rehabilitation device self-adaptive to changes of a
human motion axis, and the flexibility of the
rehabilitation device is improved by adopting a mode of motor driving and
rope transmission, autonomous adjustment can be performed according to a
wrist-
hand size of a user, so that the movement axis of
wrist rotation of the patient coincides with the axis of equipment rotation, and the comfort of the equipment is improved; according to the device, the driving axis of the device can be adaptively adjusted according to a skeleton structure and motion characteristics of the human wrist joint and is always parallel to the motion axis of the human wrist joint, so that the safety of
rehabilitation training is improved; the wrist joint rehabilitation device canbe self-adaptively used for different patients, the number of
degrees of freedom, namely the flexion and extension degree of freedom, the ulnar and
radial deviation degree of freedom and the rotationdegree of freedom, required by
rehabilitation training is met, and three-degree-of-freedom
coupling movement of the wrist joint is achieved. The
joint axis offset generated by relative movement of bones can be compensated, and the
joint axis offset can change along with the self-adaptive
human body movement axis of the joint movement axis of the user.