The invention relates to the technical field of
medical rehabilitation, and discloses a three-degree-of-freedom wearable
upper limb rehabilitation exoskeleton mechanism which comprises a
shoulder joint mechanism and an
elbow joint mechanism, the two ends of the
shoulder joint mechanism are connected with the shoulder and the upper arm of the
human body respectively, and the
shoulder joint mechanism is used for driving the upper arm of the
human body to do forward flexion, backward extension, abduction and adduction movement; the two ends of the
elbow joint mechanism are connected with the upper
human arm and the front
human arm correspondingly, and the
elbow joint mechanism is used for driving the front
human arm to bend forwards and stretch backwards. Therefore, forward flexion, backward extension, abduction and adduction motions of the upper arm of the
human body are achieved through the shoulder joint mechanism, forward flexion and backward extension of the front arm of the human body are achieved through the elbow joint mechanism, then by combining motions of the upper arm of the human body and the front arm of the human body, the hand can move to the designated position, the motion relation is simple and easy to achieve, and needed drive is small. The movement is more accurate; the number of components is small, so that the weight of the
exoskeleton device of the mechanism is light; meanwhile, the wearing is convenient.