The invention discloses an interchangeable, singularity-avoiding, seven-degree-of-freedom
robot for
rehabilitation of the exoskeletons of upper limbs. The
robot comprises seven joint movement of outward extending and inward folding of shoulders, bending and stretching of the shoulders, inward rotation and outward rotation of big arms, bending and stretching of elbows, inward rotation and outward rotation of forearms, outward extending and inward folding of wrists and bending and stretching of the wrists, wherein joints are directly driven by a motor, and rotating joints of the big arms and forearms are driven by gears. Stepless adjustment of the length of arm levers and the distance between the exoskeletons of the two arms is realized through cooperation of fasteners and sliding grooves. The
robot has convenient disassembly and
assembly, the configuration of degree of freedom is in accordance with the
human physiology, and the robot has an adjustable size and singularity-avoiding joints, and can be applied to training of mobile sitting postures and fixed-type standing postures; a
wheelchair and a fixed mounting rack can be adopted to install the exoskeletons separately, and each single-arm
exoskeleton of the robot has the characteristic of application in interchangeable training of left hands and right hands, so that the application cost is reduced; and the robot has three
modes of passive training, active training and
resistance training for different
rehabilitation stages, mirroring training and demonstration training can be performed during passive training, and the robot has high practicality, and can be used by medical institutions.