An arm rehabilitation force feedback device and control system

Abstract

This invention relates to the field of upper limb rehabilitation training equipment technology, and discloses an arm rehabilitation force feedback device and control system. The device has a first and a second direction that intersect perpendicularly, and includes a moving component and two sets of force feedback devices. The two sets of force feedback devices are spaced apart in the first direction. Each force feedback device includes a robotic arm and a wrist gimbal. The wrist gimbal includes a first joint, a second joint, a third joint, and a grip. The second joint is rotatable about a first axis, the third joint is rotatable about a second axis, and the grip is rotatable about a third axis. The first, second, and third axes are perpendicular to each other. The beneficial effects of this invention are: it provides multiple rotational degrees of freedom corresponding to the wrist during arm training, improving rehabilitation training efficiency; it can train both arms simultaneously; it can be adjusted according to the trainee's height and the distance between their arms; it has good versatility; and it enhances the trainee's user experience.

Description

Technical Field

[0001] This invention relates to the field of upper limb rehabilitation training equipment technology, and in particular to an arm rehabilitation force feedback device and control system. Background Technology

[0002] For patients with limb disabilities, rehabilitation training is a crucial step in eliminating or alleviating these disabilities. The main purpose of rehabilitation training is to enable the patient's limb joints to move, gradually restoring the function of the muscles and nerves related to limb movement. Existing arm rehabilitation devices typically use motor-driven mechanisms to move the patient's limbs actively or passively, thereby enabling the joints to move.

[0003] Existing arm rehabilitation devices only have one degree of rotational freedom at the end corresponding to the wrist joint, while normal wrist training requires multiple degrees of rotation, resulting in low efficiency in arm rehabilitation training. Furthermore, existing devices can only train one arm at a time, leading to low training efficiency. Also, because the device's position is fixed during training, it's difficult to adjust it according to the trainee's height and the distance between their arms, resulting in poor versatility and a reduced user experience. Summary of the Invention

[0004] The purpose of this invention is to provide an arm rehabilitation force feedback device and control system, which has multiple rotational degrees of freedom corresponding to the wrist during arm training, improving rehabilitation training efficiency. It can also train both arms simultaneously, further enhancing training efficiency. The device is adjustable according to the trainee's height and the distance between their arms, offering good versatility and improving the user experience.

[0005] To achieve the above objectives, the present invention provides an arm rehabilitation force feedback device having a first direction and a second direction that intersect perpendicularly, including a moving component and two sets of force feedback devices.

[0006] The output end of the moving component is connected to two sets of force feedback devices. The two sets of force feedback devices are spaced apart in the first direction. The moving component is used to drive the two sets of force feedback devices to move towards or away from each other in the first direction, and to reciprocate in the second direction.

[0007] The force feedback device includes a robotic arm and a wrist gimbal. The wrist gimbal includes a first joint, a second joint, a third joint, and a grip. The first joint is connected to the output end of the robotic arm. The first joint is rotatably connected to the second joint. The second joint can rotate around a first axis. The second joint is rotatably connected to the third joint. The third joint can rotate around a second axis. The third joint is rotatably connected to the grip. The grip can rotate around a third axis. The first axis, the second axis, and the third axis are perpendicular to each other.

[0008] Furthermore, a first limiting block is provided at the bottom of the first joint around the first axis, and a first limiting groove corresponding to the first limiting block is provided at the top of the second joint.

[0009] Furthermore, the second joint is provided with a mounting groove, the third joint is disposed in the mounting groove, and the side wall of the mounting groove is provided with a second limiting block, the second limiting block being located on the rotation path of the third joint.

[0010] Furthermore, the third joint has a mounting hole along the axial direction of the third axis. The handle includes an arc-shaped connecting part and a gripping part. The arc-shaped connecting part is coaxially arranged with the mounting hole. The outer wall of the arc-shaped connecting part has a sliding groove along the radial direction. The two side walls of the mounting hole along the axial direction of the third axis are engaged in the sliding groove. A third limiting block is provided on a portion of the inner wall of the mounting hole, extending radially toward the arc-shaped connecting part. The third limiting block is located on the rotation path of the arc-shaped connecting part.

[0011] Furthermore, the robotic arm includes a first rotary joint, a second rotary joint, a third rotary joint, a large arm assembly, and a forearm assembly. The first rotary joint is connected to the output end of the moving assembly. The output end of the first rotary joint is connected to the second rotary joint and the third rotary joint. The output end of the second rotary joint is connected to the large arm assembly. The output end of the third rotary joint is connected to the forearm assembly. One end of the forearm assembly is rotatably connected to the large arm assembly, and the other end of the forearm assembly is connected to the first joint.

[0012] Furthermore, the robotic arm also includes a torsion spring and a counterweight. One end of the torsion spring is connected to the second rotary joint, and the other end is connected to the upper arm assembly. The counterweight is provided at one end of the forearm assembly near the upper arm assembly, and the first joint is connected at the other end of the forearm assembly away from the upper arm assembly.

[0013] Furthermore, the first rotary joint, the second rotary joint, and the third rotary joint are all equipped with absolute encoders for measuring rotation angles.

[0014] Furthermore, the first rotary joint includes a mounting bracket, a first motor, a first turntable, a first rotating shaft, a first winding sleeve, and a wire fixing device.

[0015] Furthermore, the first axis, the second axis, and the third axis intersect each other perpendicularly.

[0016] The present invention also provides a control system for an arm rehabilitation force feedback device, based on any one of the above-described arm rehabilitation force feedback devices, comprising:

[0017] Storage medium for storing preset rehabilitation force value ranges for various rehabilitation modes, as well as drivers corresponding to different rehabilitation modes;

[0018] The data acquisition module acquires the magnitude of the feedback force from the wrist gimbal through a mechanical sensor;

[0019] The control module is used to select the corresponding driver and the preset rehabilitation force value range according to the selected rehabilitation mode, and is electrically connected to the moving component and the force feedback device to control the arm rehabilitation force feedback device to execute the preset action of the driver and compare the collected feedback force with the preset rehabilitation force value range.

[0020] Compared with existing technologies, the force feedback device and control system for arm rehabilitation of this invention have the following advantages: The output end of the moving component is connected to two sets of force feedback devices, which can drive the two sets of force feedback devices to move towards or away from each other in a first direction and reciprocate in a second direction. Each set of force feedback devices can correspond to the training needs of one arm and can be adjusted according to the trainee's height and the distance between their arms, offering good versatility and improving the trainee's user experience. Furthermore, the force feedback device includes a robotic arm and a wrist gimbal. The wrist gimbal includes a first joint, a second joint, a third joint, and a grip. The second joint can rotate around a first axis, the third joint can rotate around a second axis, and the grip can rotate around a third axis. The first, second, and third axes are perpendicular to each other, and the wrist gimbal corresponds to three degrees of rotational freedom, which can meet the needs of wrist training and improve the efficiency of rehabilitation training. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the arm rehabilitation force feedback device according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the force feedback device of the arm rehabilitation force feedback device according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the wrist gimbal of the arm rehabilitation force feedback device according to an embodiment of the present invention;

[0024] Figure 4This is a schematic diagram of the mounting frame of the arm rehabilitation force feedback device according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the first rotary joint of the arm rehabilitation force feedback device according to an embodiment of the present invention;

[0026] Figure 6 This is a structural schematic diagram of the first rotary joint of the arm rehabilitation force feedback device according to an embodiment of the present invention from another perspective;

[0027] Figure 7 This is a schematic diagram of the structure of the second rotary joint of the arm rehabilitation force feedback device according to an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of the third rotational joint of the arm rehabilitation force feedback device according to an embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram of the structure of the first lead screw drive assembly of the arm rehabilitation force feedback device according to an embodiment of the present invention.

[0030] In the figure, 1 is the moving component; 11 is the first lead screw drive component; 111 is the first base; 112 is the first drive motor; 113 is the first guide rod; 114 is the first lead screw; and 115 is the first lead screw nut seat.

[0031] 12. Second lead screw drive assembly; 121. Second base; 122. Second drive motor; 123. Second guide rod; 124. Second lead screw; 125. Second lead screw nut seat;

[0032] 2. Force feedback device;

[0033] 3. Robotic arm; 31. First rotary joint; 311. Mounting bracket; 312. First motor; 313. First turntable; 314. First rotating shaft; 315. First winding sleeve; 316. Wire fixing device; 3131. First limiting hole; 3111. First limiting post; 317. Connecting bracket; 3171. Second limiting post;

[0034] 32. Second rotary joint; 321. Second motor; 322. Second rotating shaft; 323. Second winding sleeve; 324. Second turntable; 3241. Second limiting hole;

[0035] 33. Third rotary joint; 331. Third motor; 332. Third rotating shaft; 333. Third winding sleeve; 334. Third turntable; 335. Winding device;

[0036] 34. Boom assembly; 35. Arm assembly; 36. Torsion spring; 37. Counterweight; 38. Absolute encoder;

[0037] 4. Wrist gimbal; 41. First joint; 411. First limiting block; 42. Second joint; 421. First limiting groove; 422. Mounting groove; 423. Second limiting block; 43. Third joint; 431. Mounting hole; 432. Third limiting block; 44. Grip; 441. Arc-shaped connecting part; 4411. Slide groove; 442. Holding part;

[0038] a) First axis; b) Second axis; c) Third axis; X) First direction; Y) Second direction. Detailed Implementation

[0039] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0040] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "inner," and "outer," etc., used in this invention to indicate orientation or positional relationships are based on the positional relationships shown in the accompanying drawings and are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device and element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0041] In the description of this invention, it should be understood that the terms "first," "second," etc., are used to describe various types of information, but these terms are not limited to them; they are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0042] like Figures 1 to 9 As shown, a preferred embodiment of the present invention provides an arm rehabilitation force feedback device with a first direction X and a second direction Y that intersect perpendicularly. It includes a moving component 1 and two sets of force feedback devices 2. The output end of the moving component 1 is connected to the two sets of force feedback devices 2. The two sets of force feedback devices 2 are spaced apart in the first direction X. The moving component 1 is used to drive the two sets of force feedback devices 2 to move towards or away from each other in the first direction X, and to reciprocate in the second direction Y. It can be adjusted according to the height of the trainee and the distance between their arms, has good versatility, and improves the user experience.

[0043] Furthermore, the force feedback device 2 includes a robotic arm 3 and a wrist gimbal 4. To meet the needs of wrist training, in this invention, the wrist gimbal 4 has three rotational degrees of freedom. (See reference...) Figure 2 , Figure 3The wrist gimbal 4 includes a first joint 41, a second joint 42, a third joint 43, and a grip 44. The first joint 41 is connected to the output end of the robotic arm 3. The first joint 41 is rotatably connected to the second joint 42, which can rotate around a first axis a. The second joint 42 is rotatably connected to the third joint 43, which can rotate around a second axis b. The third joint 43 is rotatably connected to the grip 44, which can rotate around a third axis c. The first axis a, second axis b, and third axis c are perpendicular to each other, thus enabling wrist rotation training within a spatial range and improving training efficiency. During training, the user grips the grip 44 and applies a certain force to interact with the robotic arm 3. In this embodiment, to reduce the overall structural volume and weight of the wrist gimbal 4, the first axis a, second axis b, and third axis c intersect perpendicularly to each other, minimizing the volume occupied by each joint.

[0044] In some embodiments, to facilitate limiting the rotation angles of the second joint 42, the third joint 43, and the grip 44, and to prevent exceeding the wrist rotation angle and causing wrist injury to the trainee, therefore, see [reference needed]. Figure 3 A first limiting block 411 is provided at the bottom of the first joint 41 around the first axis a, and a first limiting groove 421 corresponding to the first limiting block 411 is provided at the top of the second joint 42. The first limiting block 411 is inserted into the first limiting groove 421 to limit the rotation angle of the second joint 42. Furthermore, in order to facilitate the limitation of the rotation angle of the third joint 43, and at the same time reduce the overall structure of the wrist gimbal 4 and reduce the weight, the second joint 42 is provided with a mounting groove 422, and the third joint 43 is located in the mounting groove 422, with both ends rotatably connected to the second joint 42 through a rotating shaft. A second limiting block 423 is provided on the side wall of the mounting groove 422. The second limiting block 423 is located on the rotation path of the third joint 43, that is, when the third joint 43 rotates around the second axis b, the third joint 43 stops rotating when it abuts against the second limiting block 423.

[0045] Furthermore, to facilitate the design of the grip 44 structure and reduce the weight of the third joint 43, thereby lowering the energy consumption of the robotic arm 3, the third joint 43 is provided with a mounting hole 431 along the axial direction of the third axis c. The grip 44 includes an arc-shaped connecting part 441 and a gripping part 442, wherein the arc-shaped connecting part 441 is coaxially arranged with the mounting hole 431. To enable the grip 44 to rotate around the third axis c, in this embodiment, a groove 4411 is provided radially on the outer wall of the arc-shaped connecting part 441, and the two side walls of the mounting hole 431 along the axial direction of the third axis c are engaged in the groove 4411. At the same time, to facilitate the limitation of the rotation angle of the grip 44 and ensure that wrist training is within a safe angle, a third limiting block 432 is provided on the inner wall of the mounting hole 431, extending radially toward the arc-shaped connecting part 441. The third limiting block 432 is located on the rotation path of the arc-shaped connecting part 441.

[0046] In existing technologies, the internal transmission of the robotic arm 3 is generally achieved through a motor-driven gear structure, resulting in a large overall volume and weight. In this embodiment, to reduce the overall weight and volume of the robotic arm 3, and to facilitate the design of its structure, thereby meeting the requirements for degrees of freedom within the spatial range during arm training, please refer to... Figures 2 to 8 The robotic arm 3 includes a first rotary joint 31, a second rotary joint 32, a third rotary joint 33, a large arm assembly 34, and a forearm assembly 35. The first rotary joint 31 is connected to the output end of the moving assembly 1. The output end of the first rotary joint 31 is connected to the second rotary joint 32 and the third rotary joint 33. The output end of the second rotary joint 32 is connected to the large arm assembly 34. The output end of the third rotary joint 33 is connected to the forearm assembly 35. One end of the forearm assembly 35 is rotatably connected to the large arm assembly 34, and the other end of the forearm assembly 35 is connected to the first joint 41.

[0047] Furthermore, in order to facilitate gravity compensation for the upper arm assembly 34 and the lower arm assembly 35, reduce the power consumption of the first rotary joint 31, the second rotary joint 32 and the third rotary joint 33, and further reduce the overall size and weight of the device, the robotic arm 3 also includes a torsion spring 36 and a counterweight 37. One end of the torsion spring 36 is connected to the second rotary joint 32 and the other end is connected to the upper arm assembly 34. The lower arm assembly 35 is provided with a counterweight 37 at the end near the upper arm assembly 34, and the other end of the lower arm assembly 35 away from the upper arm assembly 34 is connected to the first joint 41.

[0048] Furthermore, in order to facilitate precise control of the rotation angle of each rotary joint, an absolute encoder 38 for measuring the rotation angle is provided on the first rotary joint 31, the second rotary joint 32, and the third rotary joint 33.

[0049] In the prior art, rotary joints are generally driven by a motor and gear structure, which results in a large overall volume and weight. In this embodiment, in order to reduce the overall weight and volume of the robotic arm 3, the first rotary joint 31, the second rotary joint 32, and the third rotary joint 33 all adopt a structure driven by a motor and a rope transmission. Specifically, refer to... Figures 4 to 6 The first rotary joint 31 includes a mounting frame 311, a first motor 312, a first turntable 313, a first rotating shaft 314, a first winding sleeve 315, and a wire fixing device 316. The mounting frame 311 is connected to the output end of the moving component 1. The first motor 312 is arranged along the second direction Y and is fixedly mounted on the mounting frame 311. The first winding sleeve 315 is fixedly mounted on the output end of the first motor 312. The first rotating shaft 314 is fixedly connected to the first turntable 313, and its other end is rotatably connected to the mounting frame 311. The rope on the first winding sleeve 315 is fixed to the first turntable 313 through the fixing device. The first motor 312 drives the first winding sleeve 315 to rotate, thereby driving the first turntable 313 to rotate. An absolute encoder 38 is mounted on the first rotating shaft 314 to measure the rotation angle of the first turntable 313, which is the rotation angle of the first rotary joint 31. Furthermore, to facilitate limiting the rotation angle of the first turntable 313, a first limiting hole 3131 is provided on the first turntable 313, and a corresponding first limiting post 3111 is provided on the mounting bracket 311 to limit the rotation angle of the first turntable 313. To facilitate the installation of the second rotary joint 32 and the third rotary joint 33, a connecting bracket 317 is fixedly provided on the first turntable 313, and both the second rotary joint 32 and the third rotary joint 33 are fixedly mounted on the connecting bracket 317.

[0050] Specifically, see Figure 7The second rotary joint 32 includes a second motor 321, a second rotating shaft 322, a second winding sleeve 323, and a second turntable 324. The second motor 321 is fixedly mounted on the connecting frame, and the output end of the second motor 321 is provided with a second winding wheel. One end of the second rotating shaft 322 is rotatably connected to the connecting frame 317 and fixed to the second turntable 324. The other end of the second rotating shaft 322 is fitted with a torsion spring 36. One end of the torsion spring 36 is fixed to the upper arm assembly 34, and the other end is fixed to the connecting frame 317. The rope on the second winding sleeve 323 is fixedly connected to the second turntable 324. The second motor 321 drives the second winding sleeve 323 to rotate, thereby driving the second turntable 324 to be fixed. An absolute encoder 38 is fixedly mounted on the connecting frame 317 to measure the rotation angle of the second turntable 324, which is the rotation angle of the second rotary joint 32. Similarly, in order to limit the angle of the second turntable 324, a second limiting hole 3241 is provided on the second turntable 324, and a second limiting post 3171 corresponding to the second limiting hole 3241 is provided on the connecting frame 317. The second limiting post 3171 is set through the second limiting hole 3241, and the absolute encoder 38 is installed on the second limiting post 3171.

[0051] Similarly, see Figure 8 The third rotary joint 33 includes a third motor 331, a third rotating shaft 332, a third winding sleeve 333, a third turntable 334, and a winding device 335. The third motor 331 is mounted on the connecting frame 317, and the winding device 335 is rotatably mounted on the third rotating shaft 332. Other connection structures are the same as those of the second rotary joint 32, and will not be described in detail here. It should be noted that the third motor 331 drives the third winding sleeve 333 to rotate, and the rope on the third winding sleeve 333 is connected to the forearm assembly 35 in sequence through the third turntable 334 and the winding device 335. The absolute encoder 38 is mounted on the connecting frame 317, and the connecting frame 317 and the third turntable 334 are provided with the same rotation limit structure as the second rotary joint 32.

[0052] In some embodiments, for the convenience of setting up the moving component 1, the moving component 1 includes a first lead screw drive component 11 and a second lead screw drive component 12, wherein the first lead screw drive component 11 is set along the second direction Y, the second lead screw drive component 12 is set along the first direction X, the second lead screw drive component 12 is connected to the output end of the first lead screw drive component 11, and the output end of the second lead screw drive component 12 is connected to a robotic arm 3.

[0053] Specifically, see Figure 9The first lead screw drive assembly 11 includes a first base 111, a first drive motor 112, a first guide rod 113, a first lead screw 114, a first lead screw nut seat 115, and an encoder. The first drive motor 112 is mounted on the first base 111, and the output end of the first drive motor 112 is connected to the first lead screw 114. The first lead screw 114 is rotatably connected to the first base 111, and the first lead screw nut seat 115 is threadedly connected to the first lead screw 114. The axial direction of the first guide rod 113 and the first lead screw 114 is the second direction Y. The first guide rod 113 is slidably connected to the first lead screw nut seat 115, and the first lead screw nut seat 115 is fixedly connected to the second lead screw drive assembly 12. The first drive motor 112 drives the first lead screw 114 to rotate, and the first lead screw nut seat 115 can reciprocate in the second direction Y, thereby driving the second lead screw drive assembly 12 to reciprocate in the second direction Y. The encoder is used to measure the angle of rotation of the first lead screw 114 driven by the first drive motor 112. In some embodiments, a coupling is provided between the first drive motor 112 and the first lead screw 114 to facilitate transmission between them.

[0054] Similarly, see Figure 1 The second lead screw drive assembly 12 includes a second base 121, a second drive motor 122, a second guide rod 123, a second lead screw 124, two second lead screw nut seats 125, and an encoder. The second drive motor 122 is fixed to the second base 121, the second lead screw 124 is rotatably connected to the second base 121, the two second lead screw nut seats 125 are spaced apart on the second lead screw 124 and are respectively fixed to a set of force feedback devices 2. The axial direction of the second guide rod 123 and the second lead screw 124 is the first direction X. The output end of the second drive motor 122 is connected to the second lead screw 124. The second drive motor 122 drives the second lead screw 124 to rotate, and the two second lead screw nut seats 125 move towards or away from each other in the first direction X, thereby driving the two sets of force feedback devices 2 to move towards or away from each other.

[0055] The present invention also provides a control system for an arm rehabilitation force feedback device, based on the above-described arm rehabilitation force feedback device, comprising:

[0056] Storage medium for storing preset rehabilitation force value ranges for various rehabilitation modes, as well as drivers corresponding to different rehabilitation modes;

[0057] The data acquisition module collects the magnitude of the feedback force from the wrist gimbal 4 via a mechanical sensor;

[0058] The control module is used to select the corresponding driver and preset rehabilitation force value range according to the selected rehabilitation mode. It is electrically connected to the moving component 1 and the force feedback device 2 to control the arm rehabilitation force feedback device to execute the preset action of the driver and compare the collected feedback force with the preset rehabilitation force value range.

[0059] In the selected rehabilitation mode, if the collected feedback force is less than the preset rehabilitation force value range, it indicates that the trainee has not yet recovered and still needs training; if the collected feedback force is within the preset rehabilitation force value range, it indicates that the trainee has recovered.

[0060] In summary, this invention provides an arm rehabilitation force feedback device and control system. The output end of the moving component 1 is connected to two sets of force feedback devices 2, which can drive the two sets of force feedback devices 2 to move towards or away from each other in the first direction X, and to reciprocate in the second direction Y. Each set of force feedback devices 2 can correspond to the training needs of one arm and can be adjusted according to the trainee's height and the distance between their arms, offering good versatility and improving the trainee's user experience. Furthermore, the force feedback device 2 includes a robotic arm 3 and a wrist gimbal 4. The wrist gimbal 4 includes a first joint 41, a second joint 42, a third joint 43, and a grip 44. The second joint 42 can rotate around a first axis a, the third joint 43 can rotate around a second axis b, and the grip 44 can rotate around a third axis c. The first axis a, second axis b, and third axis c are perpendicular to each other. The wrist gimbal 4 corresponds to three degrees of rotational freedom, which can meet the needs of wrist training and improve the efficiency of rehabilitation training.

[0061] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An arm rehabilitation force feedback device, having a first direction and a second direction that intersect perpendicularly, characterized in that: Includes a moving component and two sets of force feedback devices. The output end of the moving component is connected to two sets of force feedback devices. The two sets of force feedback devices are spaced apart in the first direction. The moving component is used to drive the two sets of force feedback devices to move towards or away from each other in the first direction, and to reciprocate in the second direction. The force feedback device includes a robotic arm and a wrist gimbal. The wrist gimbal includes a first joint, a second joint, a third joint, and a grip. The first joint is connected to the output end of the robotic arm. The first joint is rotatably connected to the second joint. The second joint can rotate around a first axis. The second joint is rotatably connected to the third joint. The third joint can rotate around a second axis. The third joint is rotatably connected to the grip. The grip can rotate around a third axis. The first axis, the second axis, and the third axis are perpendicular to each other. The third joint has a mounting hole along the axial direction of the third axis. The handle includes an arc-shaped connecting part and a gripping part. The arc-shaped connecting part is coaxially arranged with the mounting hole. The outer wall of the arc-shaped connecting part has a sliding groove along the radial direction. The two side walls of the mounting hole along the axial direction of the third axis are engaged in the sliding groove. A third limiting block is provided on a portion of the inner wall of the mounting hole that extends radially toward the arc-shaped connecting part. The third limiting block is located on the rotation path of the arc-shaped connecting part. The robotic arm includes a first rotary joint, a second rotary joint, a third rotary joint, a large arm assembly, and a forearm assembly. The first rotary joint is connected to the output end of the moving assembly. The output end of the first rotary joint is connected to the second rotary joint and the third rotary joint. The output end of the second rotary joint is connected to the large arm assembly. The output end of the third rotary joint is connected to the forearm assembly. One end of the forearm assembly is rotatably connected to the large arm assembly, and the other end of the forearm assembly is connected to the first joint. The first rotary joint includes a mounting bracket, a first motor, a first turntable, a first rotating shaft, a first winding sleeve, and a wire fixing device.

2. The arm rehabilitation force feedback device as described in claim 1, characterized in that: The bottom of the first joint is provided with a first limiting block around the first axis, and the top of the second joint is provided with a first limiting groove corresponding to the first limiting block.

3. The arm rehabilitation force feedback device as described in claim 1, characterized in that: The second joint is provided with a mounting groove, the third joint is disposed in the mounting groove, and the side wall of the mounting groove is provided with a second limiting block, which is located on the rotation path of the third joint.

4. The arm rehabilitation force feedback device as described in claim 1, characterized in that: The robotic arm also includes a torsion spring and a counterweight. One end of the torsion spring is connected to the second rotary joint, and the other end is connected to the upper arm assembly. The counterweight is provided at the end of the forearm assembly near the upper arm assembly, and the first joint is connected at the other end of the forearm assembly away from the upper arm assembly.

5. The arm rehabilitation force feedback device as described in claim 1, characterized in that: The first rotary joint, the second rotary joint, and the third rotary joint are all equipped with absolute encoders for measuring rotation angles.

6. The arm rehabilitation force feedback device as described in claim 1, characterized in that: The first axis, the second axis, and the third axis intersect each other perpendicularly.

7. A control system for an arm rehabilitation force feedback device, based on the arm rehabilitation force feedback device according to any one of claims 1-6, characterized in that: include Storage medium for storing preset rehabilitation force value ranges for various rehabilitation modes, as well as drivers corresponding to different rehabilitation modes; The data acquisition module acquires the magnitude of the feedback force from the wrist gimbal through a mechanical sensor; The control module is used to select the corresponding driver and the preset rehabilitation force value range according to the selected rehabilitation mode, and is electrically connected to the moving component and the force feedback device to control the arm rehabilitation force feedback device to execute the preset action of the driver and compare the collected feedback force with the preset rehabilitation force value range.

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