The invention discloses an
upper limb rehabilitation robot with active-passive type two arms, and belongs to the field of
rehabilitation training robots. The
upper limb rehabilitation robot with the active-passive type two arms comprises an
upper limb active training device, an upper limb passive training device, over beam arms and a pedestal. The upper limb active training device and the upper limb passive training device are fixed on the pedestal through the over beam arms; the upper limb active training device comprises an active
shoulder joint abduction and adduction
assembly, an active
shoulder joint flexion and extension
assembly, an active upper arm intorsion and extorsion
assembly, an active
elbow flexion and extension assembly, an active
forearm intorsion and extorsion assembly, and an active
wrist joint flexion and extension assembly; and the upper limb passive training device comprises a passive
shoulder joint abduction and adduction assembly, a passive shoulder
joint flexion and extension assembly, a passive upper arm intorsion and extorsion assembly, a passive
elbow flexion and extension assembly, a passive
forearm intorsion and extorsion assembly, and a passive
wrist joint flexion and extension assembly. According to the invention, motions of a plurality of joints in a plurality of dimensions can be achieved, and the
upper limb rehabilitation robot can help the patient to exercise according to his own wish.