Magnetorheological three-dimensional force feedback type upper limb active and passive rehabilitation training device

Abstract

The invention discloses a magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device which comprises a bearing base, and a first bearing seat, a second bearing seat, a first torque motor base, a second torque motor base and an encoder base which are installed on the bearing base through bolts and fixed through bolts. The bearing base is provided with 21 groove-shaped holes which are connected with the transmission system, the transmission system is arranged above the bearing base, a first-class three-dimensional rod piece is arranged above the bearing base, and a magneto-rheological joint module is arranged above the bearing base. The magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device has more comprehensive freedom of motion, so that the rehabilitation training requirements of patients are better met, compared with an exoskeleton robot, the magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device is simple in structure, high in adaptability and more convenient to install and debug, and meanwhile personalized adjustment can be conducted according to specific conditions of different patients.

Description

Technical Field

[0001] The invention relates to the technical fields of rehabilitation medical machinery and magnetorheological device control technology, and in particular to a magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device. Background Art

[0002] Stroke often causes hemiplegia / paralysis of the patient's limbs, thus limiting their ability to carry out daily life. Stroke patients need to receive systematic and persistent training during the rehabilitation process to restore their impaired functions. Traditional rehabilitation training methods mainly rely on the guidance and manual operation of rehabilitation therapists, but due to limited human resources and the difficulty in sustaining training effects, the efficiency and effectiveness of this method are not satisfactory. Rehabilitation training robots can provide repetitive and precise rehabilitation training, which is beneficial for patients to improve efficiency during the recovery process and achieve better rehabilitation effects.

[0003] The invention with publication number CN118001088A discloses an upper limb rehabilitation robot, in which all motors are arranged on a base to reduce the weight and inertia of the moving parts, thereby reducing the motor model, and then the reducer can be eliminated, thereby improving the motion performance and force control accuracy of the entire device; at the same time, this case avoids the problem of constant bending of the motor cable, and can improve the life and stability of the entire device; The invention with publication number CN116763595A discloses a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot, which is provided with a shoulder joint motion mechanism, an elbow joint motion mechanism, and a wrist joint motion mechanism, can realize seven degrees of freedom, has multiple active degrees of freedom, and is flexible in movement. It is also provided with an upper arm size adjustment mechanism, a forearm size adjustment mechanism, and a hand size adjustment mechanism, which is applicable to a wide range of human upper limb sizes, has good human-machine coupling, and avoids the problem of being unable to match the size of the upper limb rehabilitation robot due to individual size differences of patients; The utility model with publication number CN208115052U discloses an upper limb rehabilitation training device, which can be used not only for passive rehabilitation training but also for active rehabilitation training. During passive training, the magnetorheological fluid damper can also assist the driving motor to brake to prevent upper limbs from being injured.

[0004] However, traditional rehabilitation robots are all rigid structures. The robots are composed of rigid connecting rods with large inertia. Most of them are driven by motors and rigidly connected to actuators. They lack motion flexibility to a certain extent and are prone to rigid impact. In order to solve the problems of rigid impact and lack of flexibility in traditional rehabilitation robots, a method of combining magnetorheological fluid with rehabilitation robot drive was proposed, and a motor-magnetorheological damper hybrid drive transmission structure was designed. The problem of poor flexible control performance of traditional rigid rehabilitation robots due to high inertia, motor stall impact and other reasons was solved, and the output performance of human-computer interaction of the rehabilitation robot was improved.

[0005] Therefore, we proposed a magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device to solve the problem that traditional rehabilitation robots are all rigid structures, the robots are composed of rigid connecting rods, have large inertia, are mostly driven by motors and rigidly connected to actuators, lack movement flexibility to a certain extent, and are prone to rigid impact and other driving technology problems.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: A magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device, comprising a bearing base, and a first bearing seat, a second bearing seat, a first torque motor seat, a second torque motor seat and an encoder seat installed with the bearing base by bolts, and the bearing base is fixed with bolts, and twenty-one slotted holes are opened on the bearing base to connect with the transmission system; A transmission system is arranged above the bearing base, the transmission system comprises an encoder base, which is connected to the encoder fixing member through an encoder connecting rod, and an encoder body is fixedly installed on the encoder connecting rod, and the encoder body is connected to the third torque motor through a first coupling body; A type of three-dimensional rod is arranged above the bearing base, and the type of three-dimensional rod is connected to one end of the magnetorheological joint body, and the other end of the type of three-dimensional rod is slidably connected to the type of two three-dimensional rod, and the left and right ends of the type of two three-dimensional rod are respectively rotatably connected to the type of three three-dimensional rod and the type of four three-dimensional rod, and the rear ends of the type of three three-dimensional rod and the type of four three-dimensional rod are rotatably connected to the outer end of the type of five three-dimensional rod; A magnetorheological joint module is arranged above the supporting base, and the magnetorheological joint module includes an upper shell, a first coil, a second coil, a first magnetic isolation ring, a second magnetic isolation ring, a first sealing ring, a second sealing ring, a sleeve, a lower shell, a flange shaft, a first sealed bearing, a second sealed bearing, a first rubber sealing ring, a second rubber sealing ring, a flange, a transmission shaft, an upper shell, a lower shell, a side shell and a flange shaft.

[0008] Preferably, the transmission system includes a third torque motor connected to the first torque motor base and the second torque motor base through a torque motor bracket, and the third torque motor is connected to the third bearing seat and the magnetorheological joint body through the second coupling body, and the third bearing seat is fixedly connected to the second bearing seat.

[0009] Preferably, the transmission system includes a conductive slip ring bracket, which is fixedly connected to the first bearing seat and connected to the conductive slip ring body, and the transmission system includes a magnetorheological joint body, which is connected to the fourth bearing seat and the hollow shaft encoder, and the fourth bearing seat is fixedly connected to the first bearing seat.

[0010] Preferably, the middle part of the five types of three-dimensional rods is slidably connected to the six types of three-dimensional rods, and the inner ends of the six types of three-dimensional rods are connected to the first connecting member, and the upper ends of the first connecting member and the force sensor are interconnected, and the upper ends of the force sensor are connected to the second connecting member, and the second connecting member is fixedly connected to the handle.

[0011] Preferably, the force sensor is connected to the first universal connector, and a second universal connector is mounted on the top surface of the first universal connector, and a handle is fixedly mounted on the top surface of the second universal connector.

[0012] Preferably, a positioning connector is provided at the upper end of the second connecting member, and the upper end of the positioning connector is fixedly connected to the cross universal joint, and the lower end of the positioning connector is connected to the force sensor, and the upper end of the cross universal joint is fixedly connected to the handle, and the axis of the cross universal joint is connected to the first servo motor and the second servo motor, and the first servo motor and the second servo motor are connected to the positioning connector.

[0013] Preferably, magnetorheological fluid is filled between the upper shell, the lower shell, and the rotor, and a first sealing ring, a second sealing ring, and a first sealed bearing and a second sealed bearing are provided on both sides to achieve a double sealing effect.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device has more comprehensive freedom of movement, so as to better meet the needs of patients for rehabilitation training. Compared with the exoskeleton robot, it has a simple structure, strong adaptability, and is more convenient to install and debug. At the same time, it can also be personalized according to the specific conditions of different patients. The specific contents are as follows: 1. The three-dimensional space has a high degree of freedom of movement and a comprehensive range of motion, which can provide more comprehensive recovery for upper limb muscles. The terminal traction handle has a simple appearance and structure, is easy to operate, and is easy for patients to use. It improves the efficiency and comfort of rehabilitation training, meets the diverse needs of users, and improves adaptability and flexibility. The modular design can quickly locate and replace the module to ensure that personalized usage scenarios and needs are met.

[0015] 2. The use of magnetorheological intelligent materials can carry out different rehabilitation training according to the different needs of patients. It has the advantages of personalized and precise rehabilitation. It can also provide corresponding assistance and resistance according to the magnetorheological characteristics, and stop in time when collision occurs or the end output torque is too large, ensuring the controllability and safety of the mechanism.

[0016] 3. During passive training, due to the rheological properties of the magnetorheological fluid, there is a speed difference between the output and input ends of the magnetorheological joint. At this time, the controller continuously adjusts the motor speed through the speed feedback of the affected limb so that the end arm can perform rehabilitation training according to the designed target speed and trajectory.

[0017] 4. When the sensor detects movement, the motor is adjusted through feedback to drive the magnetorheological joint to move in the same direction at a faster speed to provide positive traction, and a stable output of the end interaction force of the rehabilitation robot is achieved by dynamically adjusting the current of the magnetorheological joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the handle installation structure of the present invention; Figure 3 It is a schematic diagram of the installation structure of the first universal connector and the second universal connector of the present invention; Figure 4 This is a schematic diagram of the installation structure of the positioning connector and the cross universal shaft of the present invention; Figure 5 This is a schematic diagram of the explosion structure of the magnetorheological joint module of the present invention; Figure 6 This is a schematic diagram of the flange shaft installation structure of the present invention; Figure 7 It is a schematic diagram of the cross-sectional structure of the side shell of the present invention; Figure 8Schematic diagram of the installation structure of five types of three-dimensional rods of the present invention.

[0019] In the figure: 1. bearing base; 2. first bearing seat; 3. second bearing seat; 4. first torque motor base; 5. second torque motor base; 6. encoder base; 7. encoder connecting rod; 8. encoder fixing piece; 9. encoder body; 10. first coupling body; 11. third torque motor; 12. torque motor bracket; 13. second coupling body; 14. third bearing seat; 15. magnetorheological joint body; 16. conductive slip ring body; 17. conductive slip ring bracket; 18. third bearing seat; 19. hollow shaft encoder; 20. first type of three-dimensional rod; 21. second type of three-dimensional rod; 22. fourth type of three-dimensional rod; 23. third type of three-dimensional rod; 24. fifth type of three-dimensional rod; 25. sixth type of three-dimensional rod ; 26. First connecting piece; 27. Force sensor; 28. Second connecting piece; 29. ​​Handle; 30. First universal connecting piece; 31. Second universal connecting piece; 32. Positioning connecting piece; 33. Cross universal shaft; 34. First servo motor; 35. Second servo motor; 36. Upper shell; 37. First coil; 38. First magnetic isolation ring; 39. First sealing ring; 40. Rotor; 41. Side shell; 42. Second sealing ring; 43. Bushing; 44. Second coil; 45. Second magnetic isolation ring; 46. Lower shell; 47. Flange shaft; 48. First sealed bearing; 49. First rubber sealing ring; 50. Second rubber sealing ring; 51. Second sealed bearing; 52. Flange; 53. Drive shaft. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 8 , the present invention provides the following technical solutions: Embodiment 1: In order to solve the problems existing in the use of existing rehabilitation training devices, this embodiment adopts the following technical scheme: a magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device, comprising a bearing base 1, and a first bearing seat 2, a second bearing seat 3, a first torque motor base 4, a second torque motor base 5 and an encoder base 6 installed with bolts to the bearing base 1, and the bearing base 1 is fixed with bolts, and twenty-one slotted holes are opened to connect with the transmission system.

[0022] A transmission system is arranged above the supporting base 1, and the transmission system includes an encoder base 6, which is connected to the encoder fixing member 8 through an encoder connecting rod 7, and an encoder body 9 is fixedly installed on the encoder connecting rod 7, and the encoder body 9 is connected to the third torque motor 11 through the first coupling body 10; the third torque motor 11 included in the transmission system is connected to the first torque motor base 4 and the second torque motor base 5 through a torque motor bracket 12, and the third torque motor 11 is connected to the third bearing seat 14 and the magnetorheological joint body 15 through the second coupling body 13, and the third bearing seat 14 is fixedly connected to the second bearing seat 3.

[0023] The transmission system includes a conductive slip ring bracket 17, which is fixedly connected to the first bearing seat 2 and connected to the conductive slip ring body 16, and the transmission system includes a magnetorheological joint body 15, which is connected to the fourth bearing seat 18 and the hollow shaft encoder 19, and the fourth bearing seat 18 is fixedly connected to the first bearing seat 2.

[0024] The robotic arm transmits the torque of the magnetorheological joint body 15 to the affected limb through the handle 29, and measures the human-machine interaction force between them through the force sensor 27. The measurement data of the three-dimensional force sensor 27 is transmitted to the host computer software and the DSP main control chip through feedback. The three-dimensional force sensor 27 is responsible for monitoring abnormal human-machine interaction torque or abnormal control system conditions, and cooperates with the upper limb rehabilitation training robot safety control strategy to realize the switching of the three working modes to prevent accidents from causing secondary injuries to the affected limb.

[0025] Based on the characteristics of adjustable and controllable damping torque of the magnetorheological joint body 15, the damping torque can be output during operation to meet the needs of rehabilitation patients for dynamic adjustment of human-computer interaction force during recovery exercises. For stroke patients in different recovery stages, assisted rehabilitation training and active rehabilitation training were carried out on the rehabilitation training robot test bench. The magnetorheological joint body 15 was used in rehabilitation training, which improved the flexibility and safety compared with traditional drives, and overcame the shortcomings of traditional rehabilitation devices that are prone to impact and unstable human-computer interaction force causing secondary injuries.

[0026] Embodiment 2: In order to solve the problems existing in the use of the existing rehabilitation training device, this embodiment adopts the following technical solutions, such as Figure 2-Figure 4 As shown, a type of three-dimensional rod 20 is arranged above the supporting base 1, and the type of three-dimensional rod 20 is connected to one end of the magnetorheological joint body 15, and the other end of the type of three-dimensional rod 20 is slidingly connected to the type of two three-dimensional rod 21, and the left and right ends of the type of two three-dimensional rod 21 are rotatably connected to the type of three three-dimensional rod 23 and the type of four three-dimensional rod 22 respectively, and the rear ends of the type of three three-dimensional rod 23 and the type of four three-dimensional rod 22 are rotatably connected to the outer ends of the type of five three-dimensional rod 24.

[0027] The middle part of the five-type three-dimensional rod 24 is slidingly connected to the six-type three-dimensional rod 25, and the inner end of the six-type three-dimensional rod 25 is connected to the first connecting member 26, and the upper end of the first connecting member 26 is connected to the force sensor 27, and the upper end of the force sensor 27 is connected to the second connecting member 28, and the second connecting member 28 is fixedly connected to the handle 29.

[0028] The force sensor 27 is connected to the first universal connector 30 , and a second universal connector 31 is mounted on the top surface of the first universal connector 30 , and a handle 29 is fixedly mounted on the top surface of the second universal connector 31 .

[0029] A positioning connector 32 is provided at the upper end of the second connector 28, and the upper end of the positioning connector 32 is fixedly connected to the cross universal joint 33, and the lower end of the positioning connector 32 is connected to the force sensor 27, and the upper end of the cross universal joint 33 is fixedly connected to the handle 29, and the axis of the cross universal joint 33 is connected to the first servo motor 34 and the second servo motor 35, and the first servo motor 34 and the second servo motor 35 are connected to the positioning connector 32.

[0030] The end handle 29 is a multifunctional module. It is easy to disassemble and install according to user needs. Users can choose different end handles 29 according to their own needs. The end handles 29 are easy to disassemble and install. They mainly include a fixed end handle 29; and a handle 29 connected by a first universal connector 30 and a second universal connector 31. The first universal connector 30 and the second universal connector 31 are used to increase the degree of freedom to restore the muscles at the wrist; at the same time, the first servo motor 34 and the second servo motor 35 are used to control the cross universal shaft 33. By writing code to control the first servo motor 34 and the second servo motor 35, a passive training mode under different damping can be achieved. When the muscles at the wrist recover, a fixed damping resistance can be added to perform resistance training to achieve a better recovery effect. The force feedback module ensures real-time human-computer interaction and safety issues during the medical process.

[0031] Embodiment 3: In order to solve the problems existing in the use of the existing rehabilitation training device, this embodiment adopts the following technical scheme: a magnetorheological joint module is arranged above the supporting base 1, and the magnetorheological joint module includes an upper shell 36, a first coil 37, a second coil 44, a first magnetic isolation ring 38, a second magnetic isolation ring 45, a first sealing ring 39, a second sealing ring 42, a sleeve 43, a lower shell 46, a flange shaft 47, a first sealed bearing 48, a second sealed bearing 51, a first rubber sealing ring 49, a second rubber sealing ring 50, a flange 52, a transmission shaft 53, an upper shell 36, a lower shell 46, a side shell 41 and a flange shaft 47; magnetorheological fluid is filled between the upper shell 36, the lower shell 46, and the rotor 40, and the first sealing ring 39, the second sealing ring 42 and the first sealed bearing 48, the second sealed bearing 51 are arranged on both sides to achieve a double sealing effect.

[0032] like Figure 5-Figure 7 As shown, when the external environment is at room temperature and normal state, the state of the magnetorheological fluid smart material is discrete distribution, and the internal ferromagnetic particles are disordered. At this time, the magnetorheological fluid is in a Newtonian fluid state and exhibits a certain viscosity; when the excitation current is passed, the internal magnetic field environment of the magnetorheological fluid will be in a very short time (rheological effect will occur within milliseconds). At this time, the internal ferromagnetic particles are affected by the excitation current and will become magnetic chains and parallel to the magnetic field. The magnetorheological fluid will appear as a Bingham fluid with high viscosity, low fluidity and high shear yield stress. The magnetorheological smart material as a flexible joint has the advantages of fast response speed, high control accuracy, low energy consumption, high stability and good safety. Therefore, the magnetorheological smart material is used as the transmission medium to design the flexible joint, and the magnetorheological joint body 15 is designed using the magnetorheological material to ensure flexibility and safety during movement.

[0033] During power failure, emergency stop and operation, sudden changes in speed should be avoided to prevent secondary damage to the affected limb. This embodiment proposes the following three working modes: Working mode: At this time, the damping force in the magnetorheological joint body 15 is controllable and adjustable. The rehabilitation robot works in passive training mode, auxiliary training mode or active training mode. The required excitation current is calculated by the auxiliary training controller or the active training controller through the reverse current model. The robot end force sensor 27 monitors the human-computer interaction torque in real time to prevent accidents.

[0034] Safety mode: When the value detected by the end force sensor 27 exceeds the safety threshold or the control system self-detects an abnormality, the control system can cut off the power supply of the magnetorheological joint body 15, and the magnetorheological fluid will not have a rheological effect; at this time, the motor continues to rotate, but the magnetorheological joint body 15 only provides the torque generated by the structural friction and the viscous damping force of the magnetorheological fluid in the fluid state. At this time, the damping force is about 2N. After the abnormal situation is eliminated, the excitation current of the magnetorheological joint body 15 can be restarted, and the system returns to the normal working mode.

[0035] Emergency mode: When an emergency occurs (motor out of control or motor speed is too fast), the patient or doctor can immediately press the emergency stop switch to cut off the power supply of the current drive system to stop the rotation, and the magnetorheological joint body 15 also stops working. The human-computer interaction force provided by the rehabilitation robot is zero N. Due to the end-traction rehabilitation design, the patient's limbs can be easily separated from the robot to prevent them from secondary injury.

[0036] In the passive training mode, the muscles and nerves of the affected limb do not have the ability to move themselves, and they mainly rely on the rehabilitation robot to repeatedly complete the set rehabilitation training movements through trajectory tracking. The speed loop control method of the passive rehabilitation training of the upper limb rehabilitation robot adopts a PID controller as a trajectory tracking controller. At this time, the magnetorheological joint body 15 not only acts as a clutch to transmit power, but also serves as a safety device to limit the interaction force during rehabilitation training to ensure the safety of human-computer interaction. During the passive training process, due to the rheological characteristics of the magnetorheological fluid, there is a speed difference between the output and input ends of the magnetorheological joint body 15. At this time, the controller continuously adjusts the driving speed through the speed feedback of the affected limb so that the end arm can perform rehabilitation training movements according to the designed target speed and trajectory.

[0037] During the auxiliary training control process, the affected limb has poor motor ability. At this time, the rehabilitation robot provides auxiliary movement. When the force sensor 27 detects the movement, it drives the magnetorheological joint body 15 to move in the same direction at a faster speed through feedback adjustment and transmission to provide positive traction. At this time, a stable output of the end interaction force of the rehabilitation robot is achieved by dynamically adjusting the current of the magnetorheological joint body 15.

[0038] Similarly, during the active training control process, the upper limbs have a certain motor ability to drive the rehabilitation robot to move, and muscle impedance training is required. When the force sensor 27 detects the movement, the speed is adjusted according to the feedback to produce a movement in the opposite direction of the human hand movement, providing rehabilitation training resistance. At this time, a stable output of the terminal interaction force of the rehabilitation robot is achieved by dynamically adjusting the current of the magnetorheological joint body 15.

[0039] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device, comprising a bearing base (1), and a first bearing seat (2), a second bearing seat (3), a first torque motor seat (4), a second torque motor seat (5) and an encoder seat (6) which are fixed to the bearing base (1) by bolts, and the bearing base (1) is provided with twenty-one slotted holes connected to a transmission system; A transmission system is arranged above the bearing base (1), the transmission system comprising an encoder base (6), which is connected to an encoder fixing member (8) via an encoder connecting rod (7), an encoder body (9) is fixedly mounted on the encoder connecting rod (7), and the encoder body (9) is connected to a third torque motor (11) via a first coupling body (10); A first-class three-dimensional rod (20) is arranged above the bearing base (1), and the first-class three-dimensional rod (20) is connected to one end of the magnetorheological joint body (15), and the other end of the first-class three-dimensional rod (20) is slidably connected to the second-class three-dimensional rod (21), and the left and right ends of the second-class three-dimensional rod (21) are rotatably connected to the third-class three-dimensional rod (23) and the fourth-class three-dimensional rod (22), respectively, and the rear ends of the third-class three-dimensional rod (23) and the fourth-class three-dimensional rod (22) are rotatably connected to the outer end of the fifth-class three-dimensional rod (24); A magnetorheological joint module is arranged above the supporting base (1), and the magnetorheological joint module includes an upper shell (36), a first coil (37), a second coil (44), a first magnetic isolation ring (38), a second magnetic isolation ring (45), a first sealing ring (39), a second sealing ring (42), a bushing (43), a lower shell (46), a flange shaft (47), a first sealed bearing (48), a second sealed bearing (51), a first rubber sealing ring (49), a second rubber sealing ring (50), a flange (52), a transmission shaft (53), an upper shell (36), a lower shell (46), a side shell (41) and a flange shaft (47).

2. The magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device according to claim 1, characterized in that: The transmission system comprises a third torque motor (11) connected to the first torque motor base (4) and the second torque motor base (5) via a torque motor bracket (12), and the third torque motor (11) is connected to the third bearing seat (14) and the magnetorheological joint body (15) via a second coupling body (13), and the third bearing seat (14) is fixedly connected to the second bearing seat (3).

3. The magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device according to claim 2, characterized in that: The transmission system comprises a conductive slip ring bracket (17) which is fixedly connected to the first bearing seat (2) and connected to the conductive slip ring body (16), and the transmission system comprises a magnetorheological joint body (15) which is connected to the fourth bearing seat (18) and the hollow shaft encoder (19), and the fourth bearing seat (18) is fixedly connected to the first bearing seat (2).

4. The magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device according to claim 1, characterized in that: The middle part of the five-type three-dimensional rod (24) is slidably connected to the six-type three-dimensional rod (25), and the inner end of the six-type three-dimensional rod (25) is connected to the first connecting member (26), and the upper end of the first connecting member (26) is connected to the force sensor (27), and the upper end of the force sensor (27) is connected to the second connecting member (28), and the second connecting member (28) is fixedly connected to the handle (29).

5. The magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device according to claim 4, characterized in that: The force sensor (27) is connected to a first universal connector (30), a second universal connector (31) is mounted on the top surface of the first universal connector (30), and a handle (29) is fixedly mounted on the top surface of the second universal connector (31).

6. The magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device according to claim 4, characterized in that: A positioning connecting member (32) is provided at the upper end of the second connecting member (28), and the upper end of the positioning connecting member (32) is fixedly connected to a cross universal shaft (33), and the lower end of the positioning connecting member (32) is connected to a force sensor (27), and the upper end of the cross universal shaft (33) is fixedly connected to a handle (29), and the shaft of the cross universal shaft (33) is connected to a first servo motor (34) and a second servo motor (35), and the first servo motor (34) and the second servo motor (35) are connected to the positioning connecting member (32).

7. The magnetorheological three-dimensional force feedback upper limb active and passive rehabilitation training device according to claim 1, characterized in that: The upper shell (36), the lower shell (46), and the rotor (40) are filled with magnetorheological fluid, and a first sealing ring (39), a second sealing ring (42), a first sealing bearing (48), and a second sealing bearing (51) are provided on both sides to achieve a double sealing effect.

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