Upper limb rehabilitation robot system

Abstract

The invention discloses an upper limb rehabilitation robot system which comprises a modular support, a rehabilitation training device, a transparent displayer and a control unit. The modularized support comprises four vertical columns, and an upper platform, a middle platform and a lower platform which are horizontally arranged, the upper platform is used for mounting a transparent display, the middle platform is used for mounting a rehabilitation training device, and the lower platform is used for mounting a control unit; each layer of platform and the stand columns are assembled in a modularized mode through quick-release type connecting pieces. The rehabilitation training device comprises an elbow joint unit, a wrist joint unit and a plane moving unit; the elbow joint unit is provided with a single rotational degree of freedom, the wrist joint unit is provided with two orthogonal rotational degrees of freedom, and the planar moving unit is provided with a two-dimensional planar moving degree of freedom; the plane moving unit is used for controlling the elbow joint unit and the wrist joint unit to move in a plane; an activity space is arranged between the transparent display and the rehabilitation training device; the control unit is electrically connected with the rehabilitation training device and the transparent display respectively.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation robots, and in particular to an upper limb rehabilitation robot system. Background Art

[0002] Upper limb motor dysfunction is the most common sequelae for patients with neurological diseases such as stroke and spinal cord injury. Rehabilitation treatment is characterized by long cycles and high training intensity. Traditional manual rehabilitation therapy suffers from a shortage of therapists and difficulty quantifying training intensity, prompting rehabilitation robotics to become an increasingly important tool for restoring motor function.

[0003] Traditional upper limb rehabilitation therapy relies primarily on manual manipulation by rehabilitation therapists, a method with numerous limitations. For one thing, the scarcity of rehabilitation therapists makes it difficult to meet the needs of a large patient population, resulting in many patients being unable to receive timely and adequate rehabilitation training. Furthermore, the intensity and standardization of manual rehabilitation training are difficult to control, and differences in techniques between different therapists can affect the stability and consistency of rehabilitation outcomes.

[0004] In recent years, with the rapid development of robotics, automated control technology, and biomedical engineering, rehabilitation robots have emerged, bringing new opportunities for upper limb rehabilitation. Existing upper limb rehabilitation robot systems can be roughly divided into two categories: one is the end-tethered traction-based rehabilitation robot, which uses a mechanical device to pull the patient's upper limb extremities along a preset trajectory to achieve rehabilitation training. While this method can help patients move their limbs to a certain extent, due to the complex joint coupling and degrees of freedom characteristics of human upper limb movement, end-tethered traction alone cannot accurately simulate natural physiological movement, resulting in unsatisfactory rehabilitation results. The other type is the exoskeleton-based rehabilitation robot, which can be worn on the patient's upper limb, closely fitting the limb and driving each joint accordingly, effectively replicating human upper limb kinematics. However, exoskeleton-based robots are complex, costly, and cumbersome to don. They require extremely high patient adaptability and can cause discomfort when worn for extended periods, limiting their widespread application.

[0005] In summary, existing upper limb rehabilitation methods, whether traditional manual methods or single-type rehabilitation robots, cannot efficiently, accurately, and comfortably meet the rehabilitation needs of patients with upper limb motor dysfunction. Therefore, the development of an upper limb rehabilitation robot system that combines precise motion simulation, good adaptability, ease of use, and controllable cost is of great practical significance and urgent need. Summary of the Invention

[0006] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an upper limb rehabilitation robot system specifically for upper limb rehabilitation training to improve the effect of recovery of upper limb motor function in patients.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] An upper limb rehabilitation robot system includes a modular bracket, a rehabilitation training device, a transparent display and a control unit;

[0009] The modular bracket includes four vertical columns and horizontally arranged upper, middle and lower platforms. The upper platform is used to install the transparent display, the middle platform is used to install the rehabilitation training device, and the lower platform is used to install the control unit. The modular assembly is achieved by quick-release connectors between each platform and the columns.

[0010] The rehabilitation training device includes an elbow joint unit, a wrist joint unit, and a planar movement unit; the elbow joint unit is provided with a single rotational degree of freedom, the wrist joint unit is provided with two orthogonal rotational degrees of freedom, and the planar movement unit is provided with a two-dimensional planar movement degree of freedom, and the system integrates a total of five motion degrees of freedom; the power input of the elbow joint unit, the wrist joint unit, and the planar movement unit is provided by a DC brushless servo motor; the planar movement unit is used to control the planar movement of the elbow joint unit and the wrist joint unit;

[0011] An activity space is provided between the transparent display and the rehabilitation training device;

[0012] The control unit is electrically connected to the rehabilitation training device and the transparent display respectively.

[0013] Furthermore, the modular bracket is constructed of aluminum alloy profiles to form a frame structure, with four columns distributed in a rectangular array, and universal wheels are provided at the bottom of each column to form a walking mechanism.

[0014] Furthermore, the elbow joint unit includes a first DC brushless servo motor, a first one-way thrust ball bearing, a six-dimensional force sensor and an elbow tray, wherein the first DC brushless servo motor is connected to the first one-way thrust ball bearing and the six-dimensional force sensor through a connecting flange, and the elbow tray is used to contact the user's forearm and fix the user's forearm on the elbow tray; the installation direction of the first DC brushless servo motor is perpendicular to the direction of the transparent display.

[0015] Furthermore, the wrist joint unit includes a second DC brushless servo motor, a third DC brushless servo motor, a second one-way thrust ball bearing, a third one-way thrust ball bearing, a first torque sensor, a second torque sensor and an air pressure sensing handle; the second DC brushless servo motor is arranged in a vertical direction, the third DC brushless servo motor is arranged in a horizontal direction, and the central axes of the second DC brushless servo motor and the third DC brushless servo motor are perpendicular to each other; the second DC brushless servo motor is connected to the second one-way thrust ball bearing and the first torque sensor through a connecting flange; the third DC brushless motor is connected to the third one-way thrust ball bearing and the second torque sensor through a connecting flange, and the air pressure sensing handle is connected to the second torque sensor through bolts.

[0016] Furthermore, the planar moving unit includes three linear modules; the linear module includes a linear guide, a slider and a DC brushless servo motor, the slider can move along the linear guide, the DC brushless servo motor is arranged at one end of the linear guide, and a screw rotatably connected to the slider is provided in the linear guide, one end of the screw is connected to the output shaft of the DC brushless servo motor, two of the linear modules are parallel to each other and perpendicular to the width direction of the transparent display, the bottom of the third linear module is fixedly connected to the top of the slider of the first two linear modules, and the top of the slider of the linear module is connected to the elbow joint unit through a connecting piece.

[0017] Furthermore, the brushless DC servo motors in the rehabilitation training device are connected in series.

[0018] Furthermore, each DC brushless servo motor in the rehabilitation training device is provided with an encoder, which is used to obtain the rotation angle of the rotor in each DC brushless servo motor; the control unit is connected to all DC brushless servo motors; the control unit calculates the coordinates of the elbow joint unit and the wrist joint unit based on the data detected by the encoder.

[0019] Furthermore, a force sensor is provided in the control unit, and the control unit performs force control of the elbow joint unit and the wrist joint unit according to the force and torque values detected by the force sensor; the control unit realizes data interaction with the rehabilitation training device and the transparent display respectively through industrial Ethernet.

[0020] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0021] In the upper limb rehabilitation robot system disclosed in the present invention, a transparent display is placed on the upper layer of the device. During use, the display will show different scenes and tasks. At the same time, the subject can observe the position of his or her own hands through the display, thereby enhancing the user's hand-eye coordination.

[0022] 1. The frame is constructed of aluminum alloy profiles, arranged in a four-column matrix, and utilizes quick-release connectors to achieve modular assembly of the upper, middle, and lower platforms, balancing lightweight design, ease of assembly, and scalability. Tool-free quick-release operation allows for on-site installation, disassembly, and maintenance, reducing labor costs. The platform height can be flexibly adjusted to accommodate patients of varying heights. The modular design facilitates factory transportation and on-site customization and upgrades.

[0023] 2. Universal casters are installed at the bottom of the four columns to support the convenient movement of the entire system. It can be freely moved or positioned within the rehabilitation room as needed, reducing dependence on fixed installations and improving system utilization.

[0024] A 3.55-inch transparent display screen is placed on the upper platform, leaving ample space for movement behind the screen. During training, the screen can overlay virtual scenes, allowing patients to see the position of their own hands. This strengthens hand-eye-brain coordination - while performing on-screen tasks, patients can see the position of their own limbs in real time, helping to establish a closed loop of visual feedback and improving the fun and compliance of training.

[0025] 4. The elbow joint unit (1 DOF), wrist joint unit (2 DOF), and planar motion unit (2 DOF) provide a total of five degrees of freedom, comprised of three linear modules and a joint unit. This unit accurately simulates upper limb flexion and extension, pronation / supination, and positional movement within a plane, aligning with human kinematics. This wide range of motion and natural posture effectively replicate the movements of everyday hand movements.

[0026] 5. Each motion unit utilizes a high-response brushless DC servo motor directly coupled to the lead screw / joint, coupled via a harmonic reducer output, and a built-in encoder for real-time rotor angle feedback. This system features high-precision position / velocity control and low hysteresis, enabling smooth and precise force-motion coordination. Encoder closed-loop feedback ensures repeatable positioning accuracy, meeting the quantifiable requirements of rehabilitation training.

[0027] 6. The elbow unit integrates a six-dimensional force sensor, and each wrist is equipped with a torque sensor, which, combined with a pneumatic pressure-sensing grip, measures grip force. In active mode, the system captures the patient's movement intent (force / torque signals) in real time, enabling "human-machine collaborative" rehabilitation. In passive mode, the system safely guides the patient along a pre-set trajectory, balancing passive stretching with active participation.

[0028] 7. Two parallel linear modules have guide rails to prevent tipping, while the third linear module's guide rail is connected to an elbow unit. The three linear modules are connected in series to form a two-dimensional translation platform. This provides a large flat workspace (XY direction) that covers a variety of arm starting positions. The linear modules work in parallel to ensure rigidity and stability during translation.

[0029] 8. The driver, controller, power supply, I / O, and acquisition card are integrated into the chassis, communicating with the servo motors and display at high speed via Industrial Ethernet. This communication delivers excellent real-time performance and strong anti-interference capabilities, ensuring the synchronization of multi-axis collaborative control. The modular control unit facilitates maintenance and upgrades.

[0030] 9. The mid-level platform and stool are height-adjustable, allowing personalized arm positioning based on the patient's height. This improves comfort and safety, reduces neck and back stress, and allows one device to cover a wide range of patients.

[0031] 10. Each motion unit is covered with a customizable shell, which can be made of 3D-printed photosensitive resin to enhance the appearance and protect the internal components, while facilitating later personalized customization and rapid iteration. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the overall structure of the robot system of the present invention;

[0033] Figure 2-1 to Figure 2-3 They are respectively a schematic diagram of the overall structure of the rehabilitation training device in the robot system of the present invention, a schematic diagram of the structure of the rehabilitation training device with part of the outer shell removed, and an exploded view; Figure 2-4 This is a partially enlarged structural diagram of the elbow joint unit.

[0034] Figure 3-1 and Figure 3-2 They are Figure 2-3 Schematic diagram of the upper and lower surface structures of the middle connecting flange 344-1;

[0035] Figure 3-3 and Figure 3-4 They are Figure 2-3 Schematic diagram of the upper and lower surface structures of the middle connecting flange 344-2;

[0036] Figure 3-5 342 is a schematic diagram of the specific structure of the connecting member 342.

[0037] Figure 3-6 Schematic diagram of the structure of the motor fixing base 352. Figure 3-7 Schematic diagram of the structure of the connecting rod 348.

[0038] Figure 4 Training flow chart for the upper limb rehabilitation robot system.

[0039] Figure 5-1 and Figure 5-2 All of them are schematic diagrams of patients' usage status. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] See Figures 1 to 2-3 This embodiment provides an upper limb rehabilitation robot system, comprising a modular support 1, a rehabilitation training device 3, a transparent display 2, and a control unit 4. During training, the patient sits in front of the upper limb rehabilitation robot system, places his or her forearm on the elbow tray, and holds the air pressure sensing handle.

[0042] The modular bracket adopts a frame structure constructed of aluminum alloy profiles, including four vertical columns and horizontally arranged upper platform 13, middle platform 12 and lower platform 11. The upper platform 13 is used to install the transparent display 2, the middle platform 12 is used to install the rehabilitation training device 3, and the lower platform 11 is used to install the control unit 4. The modular assembly is achieved by quick-release connectors between each platform and the columns.

[0043] The rehabilitation training device 3 includes an elbow joint unit 34, a wrist joint unit 35, and a planar movement unit. The elbow joint unit 34 has a single rotational degree of freedom, the wrist joint unit 35 has two orthogonal rotational degrees of freedom, and the planar movement unit has two-dimensional planar movement degrees of freedom. The system integrates a total of five degrees of freedom. The power input of the elbow joint unit 34, the wrist joint unit 35, and the planar movement unit is provided by a DC brushless servo motor. The planar movement unit is used to control the planar movement of the elbow joint unit and the wrist joint unit. The planar movement unit includes a linear module 31, a linear module 32, and a linear module 33.

[0044] An activity space is provided between the transparent display 2 and the rehabilitation training device 3. In this embodiment, the transparent display 2 is a 55-inch transparent display.

[0045] The control unit 4 is electrically connected to the rehabilitation training device 3 and the transparent display 2 respectively, and includes a control chassis 41 and a computer host 42. The control chassis 41 includes a driver, a controller, a power supply, an I / O interface, and a sensor acquisition card, which are integrated inside the control chassis 41.

[0046] Specifically, the linear module includes a linear guide, a slider, and a brushless DC servo motor. The slider can move along the linear guide. The brushless DC servo motor is disposed at one end of the linear guide. A lead screw is disposed within the linear guide and rotatably connected to the slider. One end of the lead screw is connected to the output shaft of the brushless DC servo motor. Linear modules 31 and 32 are parallel to each other and to the width of transparent display 2. The bottom of linear module 33 is fixedly connected to the top of the sliders of linear modules 31 and 32, and the top of the slider of linear module 33 is connected to elbow joint unit 34 via connector 342. The model of the linear module in this embodiment is VLAST60-12.

[0047] See Figure 2-1 to Figure 2-3 The elbow joint unit 34 and the wrist joint unit 35 in the rehabilitation training device 3 are fixed on the slider of the linear module 33 through the connecting piece 342. By rotating the motor in the linear module 33 in the forward / reverse direction, the rehabilitation training device can be moved along the guide rail direction of the linear module 33; at the same time, the bottom of the linear module 33 is respectively connected to the linear modules 31 and 32 through the connecting piece. By controlling the linear modules 31 and 32 at the same time, the rehabilitation training device can be moved along the guide rail direction of the linear modules 31 and 32; the exoskeleton part of the elbow joint unit can realize the flexion and extension movement of the elbow joint, and the wrist joint unit can realize the flexion and extension, pronation and supination movement of the wrist joint.

[0048] The elbow joint unit 34 includes a brushless DC servo motor 341, a connector 342, a one-way thrust ball bearing 343, a connecting flange 344-1, a connecting flange 344-2, a six-axis force sensor 345, a connecting plate 346, an elbow joint tray 347, a connecting rod 348, and a clamping sleeve 349. The connector 342 is bolted to the slider of the linear module 33, and the brushless DC servo motor 341 is bolted to the connector 342. The output shaft of the brushless DC servo motor 341 is connected to the clamping sleeve 349, the connecting flange 341-1 is bolted to the upper surface of the clamping sleeve, and the connecting flange 344-1 is bolted to the connecting flange 344-2. The mounting holes on the lower surface of the six-axis force sensor 345 are bolted to the three evenly spaced holes in the center of the connecting flange 344-2, and the mounting holes on the upper surface of the six-axis force sensor 345 are bolted to the connecting plate 346. The six-dimensional force sensor 345 is primarily used to measure the planar forces Fx and Fy and the elbow flexion and extension moment Mz. The elbow tray 347 is bolted to the connecting plate 346. During use, the patient places their forearm on the elbow tray 347, and the DC brushless servo motor 341 rotates to achieve left and right swing of the patient's elbow.

[0049] For details, see Figure 3-1 to Figure 3-5The outer edge of the connecting flange 344-1 is evenly provided with five connecting holes for connecting with the connecting flange 344-2; the lower surface of the connecting flange 344-1 is provided with a convex ring, which serves as the inner ring retaining ring of the one-way thrust ball bearing 343 and the connecting flange 344-1 located inside the convex ring is provided with six through holes for connecting with the upper surface of the expansion sleeve 349, so that the power of the motor output shaft can be transmitted.

[0050] The connecting flange 344-2 is a disc-shaped structure corresponding to the connecting flange 344-1. Three through holes are set at equal intervals in the middle of the connecting flange 344-2 for connecting to the lower surface of the six-dimensional force sensor. At the same time, the three through holes at equal intervals in the middle of the lower surface of the connecting flange 344-2 are countersunk holes for placing bolt heads so that the contact surface between the connecting flange 344-1 and the connecting flange 344-2 is flush.

[0051] Connector 342 has four symmetrically arranged mounting holes on its lower surface, which are bolted to linear module 33. Motor 341 is also connected through these mounting holes, while a side mounting hole on connector 342 is used to mount a motor protective cover. The mounting axis of motor 341 is offset 30mm from the axis of linear module 33. Because the patient's forearm rests on tray 347 during use, this offset positions the center of the patient's forearm closer to the axis of the linear module, reducing tipping torque, improving device balance, and increasing the service life of linear module 33.

[0052] The wrist joint unit 35 includes a DC brushless servo motor 351, a motor fixing base 352, a one-way thrust ball bearing 353 (model 51108), a one-way thrust ball bearing 3511 (model 51100), a expansion sleeve 3512, a connecting flange 3513, a torque sensor 354, a connecting plate 355, an air pressure sensing handle 356, a motor fixing base 357, a torque sensor 358, a connecting flange 359, a one-way thrust ball bearing 3511, a expansion sleeve 3512, a one-way thrust ball bearing 3513 and a DC brushless servo motor 3510. The motor fixing seat 357 is connected to the connecting plate 346 through the connecting rod 348, the DC brushless servo motor 351 is connected to the motor seat 352 through bolts, the output shaft of the DC brushless servo motor 351 is connected to the six mounting holes on the inner ring of the connecting flange 3513 through the expansion sleeve 3512, the one-way thrust ball bearing 353 is installed on the motor fixing seat 352, the lower surface of the one-way thrust ball bearing 353 is in contact with the motor fixing seat 352, and the upper surface is connected to the connecting flange 3513, the lower surface of the torque sensor 354 is connected to the six mounting holes on the outer ring of the connecting flange 3513 through bolts, and the upper surface is connected to the connecting plate 355 through bolts; the connecting plate 355 is connected to the motor fixing seat 357 through bolts; The brushless DC servo motor 3510 is bolted to the motor mount 357. The output end of the brushless DC servo motor 3510 is connected to the connecting flange 359 via a clamping sleeve 3512. The lower surface of the one-way thrust ball bearing 3511 contacts the motor mount 357, while the upper surface is connected to the connecting flange 359. The torque sensor 358 is bolted to the connecting flange 359 on one side and to the air pressure sensing handle 356 on the other side. The output shaft of the brushless DC servo motor described in the present invention is clamped by the tension of the clamping sleeve. This not only transmits the output shaft power to the next unit, but also provides overload protection for the device due to friction, protecting the motor from overload and burnout. Furthermore, considering that the sensor mounting hole position does not match the mounting holes of the clamping sleeve and other devices, a connecting flange is designed to facilitate connection.

[0053] See Figure 3-6 and 3-7 The motor mount 352 is equipped with a protrusion with a concave connection for connecting with the connecting rod 348. The motor mount 352 has a large groove with a through hole at the bottom. Within the through hole are small grooves. The small grooves are evenly distributed with arc-shaped holes along the walls. The small grooves where the arc-shaped holes are located have connection holes. The connecting rod 348 has a convex connection for bolt connection to the motor mount 352 and the connecting plate 346, respectively. The mortise and tenon joint design enhances the stability and tightness of the connection, preventing it from loosening.

[0054] It should be noted that this upper limb rehabilitation robot system also includes a housing assembly, which covers the motors of each unit. The housing assembly not only enhances the product's appearance but also provides protection. The housing assembly is made of photosensitive resin through 3D printing.

[0055] See Figure 4 The following describes the use process of this upper limb rehabilitation robot system: the patient sits on a height-adjustable stool. The height of the middle platform 12 can be adjusted according to the patient's height. The patient uses his left or right hand to hold the air pressure sensing handle 356 at the end of the robot, and places his forearm on the elbow joint tray 347. Figure 5-1 and 5-2 . At this time, you can choose the robot passive control mode or the robot active control mode. In the active control mode, the force / torque data is obtained through the six-dimensional force sensor 345, the torque sensor 354 and the torque sensor 358, so as to analyze the patient's movement intention, so that the robot moves according to the person's intention. In the passive control mode, the rehabilitation training device 3 drives the patient's hand movement according to the set route and trajectory, and does not analyze the patient's movement intention. The specific rehabilitation scene will be displayed on the transparent display screen. The patient can see the scene displayed on the screen, and can see his own arms and the robot through the display screen. The patient interacts with the rehabilitation scene by moving the robot to complete rehabilitation training or evaluation tasks. In this embodiment, the six-dimensional force sensor model is Yuli Instrument's M3813D, and the torque sensor model is Yuli Instrument's M2211G.

[0056] The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention. The above specific embodiments are merely illustrative and not restrictive. Without departing from the scope of the present invention and the scope of protection of the claims, those skilled in the art may make various specific modifications based on the teachings of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. An upper limb rehabilitation robot system, characterized in that: It includes a modular bracket, a rehabilitation training device, a transparent display and a control unit; The modular bracket includes four vertical columns and horizontally arranged upper, middle and lower platforms. The upper platform is used to install the transparent display, the middle platform is used to install the rehabilitation training device, and the lower platform is used to install the control unit. The modular assembly is achieved by quick-release connectors between each platform and the columns. The rehabilitation training device includes an elbow joint unit, a wrist joint unit, and a planar movement unit; the elbow joint unit is provided with a single rotational degree of freedom, the wrist joint unit is provided with two orthogonal rotational degrees of freedom, and the planar movement unit is provided with a two-dimensional planar movement degree of freedom, and the system integrates a total of five motion degrees of freedom; the power input of the elbow joint unit, the wrist joint unit, and the planar movement unit is provided by a DC brushless servo motor; the planar movement unit is used to control the planar movement of the elbow joint unit and the wrist joint unit; An activity space is provided between the transparent display and the rehabilitation training device; The control unit is electrically connected to the rehabilitation training device and the transparent display respectively.

2. The upper limb rehabilitation robot system according to claim 1, characterized in that: The modular bracket is constructed of aluminum alloy profiles to form a frame structure, with four columns distributed in a rectangular array, and universal wheels are provided at the bottom of each column to form a walking mechanism.

3. The upper limb rehabilitation robot system according to claim 1, characterized in that: The elbow joint unit includes a first DC brushless servo motor, a first one-way thrust ball bearing, a six-dimensional force sensor and an elbow tray. The first DC brushless servo motor is connected to the first one-way thrust ball bearing and the six-dimensional force sensor through a connecting flange. The elbow tray is used to contact the user's forearm and fix the user's forearm on the elbow tray. The installation direction of the first DC brushless servo motor is perpendicular to the direction of the transparent display.

4. The upper limb rehabilitation robot system according to claim 1, characterized in that: The wrist joint unit includes a second DC brushless servo motor, a third DC brushless servo motor, a second one-way thrust ball bearing, a third one-way thrust ball bearing, a first torque sensor, a second torque sensor and an air pressure sensing handle; the second DC brushless servo motor is arranged in a vertical direction, the third DC brushless servo motor is arranged in a horizontal direction, and the central axes of the second DC brushless servo motor and the third DC brushless servo motor are perpendicular to each other; the second DC brushless servo motor is connected to the second one-way thrust ball bearing and the first torque sensor through a connecting flange; the third DC brushless motor is connected to the third one-way thrust ball bearing and the second torque sensor through a connecting flange, and the air pressure sensing handle is connected to the second torque sensor through a bolt.

5. The upper limb rehabilitation robot system according to claim 1, characterized in that: The planar moving unit includes three linear modules; the linear modules include a linear guide, a slider and a DC brushless servo motor, the slider can move along the linear guide, the DC brushless servo motor is arranged at one end of the linear guide, and a screw rotatably connected to the slider is provided in the linear guide, one end of the screw is connected to the output shaft of the DC brushless servo motor, two of the linear modules are parallel to each other and perpendicular to the width direction of the transparent display, the bottom of the third linear module is fixedly connected to the top of the slider of the first two linear modules, and the top of the slider of the linear module is connected to the elbow joint unit through a connecting piece.

6. The upper limb rehabilitation robot system according to claim 1, characterized in that: The brushless DC servo motors in the rehabilitation training device are connected in series.

7. The upper limb rehabilitation robot system according to claim 1, characterized in that: Each DC brushless servo motor in the rehabilitation training device is equipped with an encoder, which is used to obtain the rotation angle of the rotor in each DC brushless servo motor; the control unit is connected to all DC brushless servo motors; the control unit calculates the coordinates of the elbow joint unit and the wrist joint unit based on the data detected by the encoder.

8. The upper limb rehabilitation robot system according to claim 1, characterized in that: A force sensor is provided in the control unit, and the control unit performs force control of the elbow joint unit and the wrist joint unit according to the force and torque values detected by the force sensor; the control unit realizes data exchange with the rehabilitation training device and the transparent display respectively through industrial Ethernet.

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