Passive upper limb joint restorer

Abstract

The invention relates to the technical field of joint passive restorers, in particular to an upper limb joint passive restorer, according to the technical scheme, the upper limb joint passive restorer comprises a base, a rehabilitation assembly, a fixing assembly and a bandage assembly, two supporting pads are mounted on the two sides of the bottom of the base through threaded structures, and an electrical box is fixedly mounted at the position, close to the front face, of the top of the base; a fixing assembly is fixedly installed on one side of the top of the base and comprises a supporting frame. A rehabilitation assembly is fixedly installed on the other side of the top of the base and comprises a bearing plate. The palm rest is installed on one side of the rotating shaft, so that when a user conducts joint passive recovery exercise, the user can conduct rotation exercise of the forearm autonomously, arm muscles are pulled while the forearm is rotated, and compared with a traditional joint recovery device, the exercise effect can be further improved, the exercise range can be expanded, and the user experience is improved. The practicability of the joint passive restorer is improved, and the functionality of the device is increased.

Description

Technical Field

[0001] This invention relates to the field of passive joint rehabilitation technology, specifically to an upper limb joint passive rehabilitation device. Background Technology

[0002] Upper limb joint dysfunction is a common symptom of diseases such as osteoarthritis and prolonged immobilization, manifesting as joint pain, limited mobility, and stiffness, affecting patients' quality of life. In clinical rehabilitation, joint mobilization techniques are a core means of treating these disorders, restoring joint movement, relieving pain, and improving range of motion. However, the clinical application and teaching of this technique rely on manual operation, which has limitations. On the one hand, the treatment effect is difficult to quantify and standardize, and manual operation is based on personal experience and feel, making it impossible to accurately measure and reproduce key parameters. On the other hand, the teaching process is inefficient, as students find it difficult to perceive differences in operation and understand graded techniques, and assessments rely on visual observation and experience. Existing upper limb joint rehabilitation equipment on the market has a single movement mode and lacks biomimetic simulation of the essence of joint mobilization techniques, falling short of traditional manual therapy. Therefore, the field of rehabilitation medicine urgently needs intelligent upper limb joint mobilization equipment that integrates the principles of joint mobilization techniques and sensor technology to achieve precise quantification of treatment parameters, personalized adaptation, and standardized teaching, overcoming human and technological bottlenecks.

[0003] In the field of clinical rehabilitation, upper limb joint dysfunction is a common complication after orthopedic surgery, in patients with chronic musculoskeletal diseases, and after prolonged immobilization. Patients often experience joint stiffness, limited range of motion, and muscle adhesions, which severely affect daily life and limb function recovery. Medical research has confirmed that early, continuous, and gentle passive movement after joint injury can effectively maintain joint mobility, promote local blood circulation, and reduce soft tissue adhesions, laying the foundation for subsequent active rehabilitation training. With the development of rehabilitation medicine, the clinical demand for standardized and precise passive rehabilitation equipment is becoming increasingly prominent. The upper limb joint structure is complex, with different movement trajectories for joints such as the shoulder, elbow, and wrist. Furthermore, there are individual differences in the degree of injury and rehabilitation stage among different patients, requiring the adaptation of diverse passive movement parameters. Based on this clinical and teaching need, and combined with the medical principles of joint mobilization techniques, the development of an upper limb joint passive rehabilitation device has emerged. Its core objective is to provide patients with safe, controllable, and physiologically consistent passive rehabilitation support, helping patients to efficiently recover upper limb joint function. Therefore, we propose an upper limb joint passive rehabilitation device.

[0004] A search revealed that patent CN112022634A discloses a three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot. In rehabilitation training, the patient's forearm and hand are fixed to the robot's arm support and end effector. The robot arm drives the end effector, thus moving the upper limb in various rehabilitation training modes in the horizontal and sagittal planes. The device is driven by three motors: the first joint motor drives the upper arm to swing relative to the column, the second joint motor drives the forearm to swing relative to the upper arm, and the third joint motor drives a lead screw to move the robot's end effector vertically. A servo closed-loop control system precisely controls the posture, range of motion, and training intensity of the upper limb. The human-machine interface consists of a touchscreen and power buttons. The touchscreen allows selection of rehabilitation training modes, each with a corresponding dynamic diagram for easy understanding. The speed, time, and range of motion of each joint can be adjusted according to the patient's condition.

[0005] The existing technology still has the following drawbacks in its use: Existing passive joint rehabilitation devices for the upper limbs have limited functionality, only enabling users to passively exercise their joints and physiological movements in three axes. However, they cannot rehabilitate the accessory movements of the joints. Normal accessory movements are a prerequisite for normal physiological movements of the joints, resulting in the current passive joint rehabilitation devices for the upper limbs not providing ideal rehabilitation effects for users. Other treatment methods are still needed for rehabilitation, which reduces the practicality of the existing joint rehabilitation devices.

[0006] In view of this, we propose a passive joint recovery device for the upper limbs to solve the existing problems. Summary of the Invention

[0007] The purpose of this invention is to provide a passive rehabilitation device for upper limb joints to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: an upper limb joint passive rehabilitation device, comprising a base, a rehabilitation component, a fixation component, and a strap component, wherein two support pads are installed on both sides of the bottom of the base via a threaded structure, and an electrical box is fixedly installed on the top of the base near the front position; A fixing component is fixedly installed on one side of the top of the base, and the fixing component includes a support frame; A rehabilitation component is fixedly installed on the other side of the top of the base. The rehabilitation component includes a support plate. Two adjusting screws are rotatably installed on the front and rear sides of the support plate. A lateral clamp is installed on the outer side of the adjusting screws through a threaded structure. Several strap assemblies are installed on the top of both the support frame and the side clamps.

[0009] Preferably, a rotating shaft is installed on the side of the support plate away from the fixing component, a palm rest is fixedly installed on the side of the rotating shaft away from the support plate, a rotating cylinder is rotatably installed on the bottom of the support plate near the fixing component, a connecting rod is installed through the inside of the rotating cylinder, and support plates are rotatably installed at both ends of the connecting rod in the front-back direction, and a fixing frame is fixedly installed at the bottom of the support plate.

[0010] Preferably, a handle is fixedly installed on the side of the palm rest away from the pivot, and the handle is made of a highly elastic material, such as rubber or silicone.

[0011] Preferably, a mounting base is fixedly installed at the bottom of the fixing frame. The mounting base has an internal mounting groove, and a lead screw is rotatably installed inside the mounting groove in the left-right direction. A left-right sliding plate is slidably installed at the bottom of the mounting base, and the left-right sliding plate is slidably connected to the mounting base. A servo motor is fixedly installed on the left side of the left-right sliding plate, and a screw is fixedly installed at the output end of the servo motor, and the screw passes through the bottom of the mounting base. Front-back slide rails are slidably installed on both sides of the bottom of the left-right sliding plate. The front-back slide rails are fixedly installed on the top of the base in the front-back direction, and the front-back slide rails are electromagnetically driven.

[0012] Preferably, one end of the lead screw is rotatably connected to the inner wall of the mounting groove, and the other end of the lead screw extends out of the mounting seat. A drive motor is fixedly installed at the end of the lead screw extending out of the mounting seat, and the housing of the drive motor is fixedly connected to the mounting seat.

[0013] Preferably, a slider is installed on the outer side of the lead screw via a threaded structure. The slider is engaged with the mounting groove, and a rotating seat is rotatably installed on the top of the slider. A connecting rod is rotatably installed on the inner side of the rotating seat, and the top of the connecting rod is rotatably connected to the bottom of the support plate on the side away from the fixed component.

[0014] Preferably, an arm rest is sewn onto the outer side of the support frame, and an anti-slip frame is welded to the bottom of the support frame, with several rubber rings fitted around the bottom of the anti-slip frame.

[0015] Preferably, the strap assembly includes an elastic band, and the elastic band has a plurality of massage contacts evenly spaced inside. The massage contacts are electrically connected to each other via a cable, and the cable is electrically connected to an electrical box. Mounting holes are provided on both sides of the interior of the elastic band.

[0016] Preferably, the massage contact is made of stainless steel, and the part of the massage contact that extends into the elastic band is cylindrical, while the part of the massage contact that extends out of the elastic band is spherical. A pressure sensor and an electromyography sensor are fixedly installed inside each massage contact, and several inertial measurement units are installed at equal intervals inside the elastic band.

[0017] Preferably, the electrical box is connected to an external power source via an electrical wire, and the electrical box is electrically connected to several strap assemblies. The electrical box integrates an Internet of Things (IoT) module for connecting to the Internet to achieve wireless data transmission.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, by installing a palm rest on one side of the rotating shaft, allows users to perform forearm rotation exercises independently while conducting passive joint rehabilitation exercises. At the same time as the forearm rotates, it pulls on the arm muscles. Compared with traditional joint rehabilitation devices, this invention can further improve the exercise effect, expand the exercise range, enhance the practicality of the passive joint rehabilitation device, and increase the functionality of the device.

[0019] 2. This invention installs several strap components on the rehabilitation component and the fixation component. The user's arm is bound to the rehabilitation component and the fixation component respectively by the strap components. While limiting the user's arm, it is electrically connected to the electrical box to stimulate the arm muscles with electrical pulses, thereby stimulating and massaging the arm muscles. In addition, it is combined with the traction exercise in the three-axis direction of the joint to improve the exercise effect of the user in the passive joint recovery process.

[0020] 3. This invention enables the user's target joint to perform auxiliary movements in three axes (coronal / frontal axis, sagittal axis, and vertical axis) through selective braking or movement of the pivot axis. It also ensures consistency of each treatment by digitally setting, storing, and recalling treatment parameters, achieving "precision rehabilitation." This eliminates the drawbacks of manual therapy, which heavily relies on the therapist's personal experience, feel, and physical condition. Through pressure sensors, electromyography sensors, and motion capture systems, it monitors joint range of motion and muscle tension in real time, dynamically adjusts treatment parameters, achieves personalized treatment, and provides warnings for improper operation.

[0021] 4. This invention also has Internet of Things (IoT) functionality, allowing therapists to remotely monitor patient usage and adjust treatment plans, thus realizing "Internet + Rehabilitation." This addresses three core pain points in current frontline medical care: human resource bottlenecks, insufficient treatment standardization, and poor service accessibility. It helps improve the quality and efficiency of rehabilitation services and benefits a wider range of patients. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the rehabilitation component of the present invention; Figure 3 This is a three-dimensional structural diagram of the fixing component of the present invention; Figure 4 This is a front view of the present invention. Figure 5 This is a schematic diagram of the front structure of the rehabilitation component of the present invention; Figure 6 This is a schematic diagram of the front structure of the fixing component of the present invention; Figure 7 This is a three-dimensional bottom view of the strap assembly of the present invention.

[0023] In the diagram: 1. Base; 101. Support pad; 102. Electrical box; 2. Rehabilitation components; 201. Mounting base; 202. Drive motor; 203. Lead screw; 204. Slider; 205. Connecting rod; 206. Fixing frame; 207. Support plate; 208. Support plate; 209. Rotating shaft; 210. Palm rest; 211. Rotating seat; 212. Rotary cylinder; 213. Forward and backward slide rail; 214. Left and right sliding plate; 215. Servo motor; 216. Adjusting screw; 217. Side clamp; 3. Fixing components; 301. Support frame; 302. Anti-slip frame; 303. Arm rest; 4. Strap assembly; 401. Elastic band; 402. Cable; 403. Massage contact point; 404. Mounting hole. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0025] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] like Figure 1 - Figure 7 As shown, the present invention proposes an upper limb joint passive rehabilitation device, including a base 1, a rehabilitation component 2, a fixation component 3, and a strap component 4. Two support pads 101 are installed on both sides of the bottom of the base 1 through a threaded structure. An electrical box 102 is fixedly installed on the top of the base 1 near the front. The base 1 provides a mounting position for the top component. The support pads 101 are connected to the base 1 through a threaded structure. The tilt angle of the base 1 can be adjusted by rotating the support pads 101, thereby facilitating the adjustment of the base 1 to a horizontal state for convenient subsequent use of the device. The electrical box 102 can be connected to an external power source and provide power and control to the electronic components inside the device, enabling the electronic components inside the device to operate automatically under the control of the electrical box 102. A fixing component 3 is fixedly installed on one side of the top of the base 1. The fixing component 3 includes a support frame 301. The support frame 301 can provide a mounting position for the surrounding components so as to provide support for the upper limb and facilitate passive rehabilitation exercises in the three-axis direction at the joint position of the upper limb. A rehabilitation component 2 is fixedly installed on the other side of the top of the base 1. The rehabilitation component 2 includes a support plate 208. Two adjusting screws 216 are rotatably installed on the front and rear sides of the support plate 208. A lateral clamping plate 217 is installed on the outer side of the adjusting screws 216 through a threaded structure. The support plate 208 can cooperate with the support frame 301 to support different positions of the upper limb, so that the joint position is between the two. The arm is fixed by the fixing component 3, and the moving rehabilitation component 2 drives the joint of the arm to move in three axes, realizing passive rehabilitation exercise of the arm joint. By rotating the adjusting screw 216, the position of the lateral clamps 217 on both sides of the support plate 208 can be adjusted individually, thereby adjusting the distance between the lateral clamps 217 and the support plate 208 to adapt to the arms of different patients and improve the clamping effect between the device and the patient's arm. Furthermore, by adjusting the adjusting screw 216 on one side, the lateral clamp 217 on one side can be moved to push the patient's arm to move in the front and back direction of the device, further expanding the passive recovery effect of the device on different parts of the patient's arm and increasing the practicality and functionality of the device. Several strap components 4 are installed on the top of the support frame 301 and the lateral clamp 217. The strap components 4 can cooperate with the rehabilitation component 2 and the fixation component 3 respectively to fix the arm. At the same time, during passive rehabilitation exercises, the arm muscles are electrically stimulated and massaged to further enhance the effect of the device on arm rehabilitation exercises. At the same time, the training data is collected to provide a basis for adjusting the joint range of motion, equipment power and training plan.

[0027] Furthermore, a rotating shaft 209 is installed on the side of the support plate 208 away from the fixing component 3. A palm rest 210 is fixedly installed on the side of the rotating shaft 209 away from the support plate 208. A rotating cylinder 212 is rotatably installed on the bottom side of the support plate 208 near the fixing component 3. A connecting rod is installed through the inside of the rotating cylinder 212, and support plates 207 are rotatably installed at both ends of the connecting rod in the front-back direction. A fixing frame 206 is fixedly installed at the bottom of the support plate 207. The rotating shaft 209 enables the support plate 208 and the palm rest 210 to be rotatably connected, thereby allowing the palm to be massaged when using the palm rest 210. When supported, by holding the handle on the palm rest 210, the forearm can be rotated and trained while the upper limb joints are passively exercised. While the forearm is rotating, it can also stretch the arm muscles, thereby further enhancing the effect of the device on the passive recovery exercise of the arm. The rotating cylinder 212 can rotate the support plate 208 and the fixed frame 206, which not only allows the support plate 208 to tilt and move, but also allows the forearm to move back and forth in a fan-shaped range with the elbow joint as the origin while tilting and moving, thereby expanding the effect of the device on the passive recovery exercise of the joint position.

[0028] Furthermore, a handle is fixedly installed on the side of the palm rest 210 away from the pivot 209, and the handle is made of a highly elastic material, such as rubber or silicone. The use of a highly elastic material for the handle can improve the user's grip and play a non-slip role, preventing the palm from separating from the handle and affecting the final exercise effect of the device.

[0029] Furthermore, a mounting base 201 is fixedly installed at the bottom of the fixing frame 206. The mounting base 201 has an internal mounting groove, and a lead screw 203 is rotatably mounted inside the mounting groove in the left-right direction. A left-right sliding plate 214 is slidably installed at the bottom of the mounting base 201, and the left-right sliding plate 214 is slidably connected to the mounting base 201. A servo motor 215 is fixedly installed on the left side of the left-right sliding plate 214, and a screw is fixedly installed at the output end of the servo motor 215, passing through the bottom of the mounting base 201. Front-back sliding rails 213 are slidably installed on both sides of the bottom of the left-right sliding plate 214. The front-back sliding rails 213 are fixedly installed on the top of the base 1 in the front-back direction and are electromagnetically driven. The mounting base 201 provides a mounting position for the top components, and the mounting base 201 is fixedly connected to the base 1 by bolts, ensuring that the top components can operate smoothly. To ensure stability during rotation, the lead screw 203 is connected to the drive motor 202 and reciprocates under its drive. The thread on the outer side of the lead screw 203 engages with the internal thread of the slider 204, causing the slider 204 to reciprocate within the mounting groove. The servo motor 215, when energized, rotates the mounting base 201, causing it to slide on top of the left-right sliding plate 214. Furthermore, the front-back sliding rail 213 drives the left-right sliding plate 214 to slide, enabling the mounting base 201 and its top components to translate in both the front-back and left-right directions. When the patient uses the device, the fixing component 3 can secure the upper arm, and by moving and pulling the patient's forearm, traction and recovery exercises can be performed on the elbow. This achieves passive recovery exercises in the front-back, left-right, and up-down three-axis directions of the elbow, further enhancing the device's recovery effect on the patient.

[0030] Furthermore, one end of the lead screw 203 is rotatably connected to the inner wall of the mounting groove, and the other end of the lead screw 203 extends out of the mounting base 201. A drive motor 202 is fixedly installed at one end of the lead screw 203 extending out of the mounting base 201, and the housing of the drive motor 202 is fixedly connected to the mounting base 201. The drive motor 202 is of type 1FK7022-K71-1UG3. After the drive motor 202 is powered on, it can rotate, thereby driving the lead screw 203 to reciprocate, so as to drive the slider 204 to reciprocate inside the mounting groove, thereby driving the component on the top of the slider 204 to reciprocate.

[0031] Furthermore, a slider 204 is installed on the outer side of the lead screw 203 via a threaded structure. The slider 204 is engaged with the mounting groove, and a rotating seat 211 is rotatably installed on the top of the slider 204. A connecting rod 205 is rotatably installed on the inner side of the rotating seat 211. The top of the connecting rod 205 is rotatably connected to the bottom of the support plate 208 on the side away from the fixed component 3. By the reciprocating movement of the slider 204 inside the mounting groove, the connecting rod 205 is pushed, which in turn pushes one side of the support plate 208 to adjust the tilt angle. This allows the forearm of the upper limb to perform two movements of raising and lowering with the elbow joint as the origin, thereby achieving passive recovery exercise for the elbow joint.

[0032] Furthermore, an arm support 303 is sewn onto the outside of the support frame 301, and an anti-slip frame 302 is welded to the bottom of the support frame 301. Several rubber rings are fitted on the bottom of the anti-slip frame 302. The arm support 303 can support the upper arm and, together with the strap assembly 4, fix the upper arm so as to facilitate the movement of the forearm and achieve passive recovery exercises for the joint position.

[0033] Furthermore, the strap assembly 4 includes an elastic band 401, with a plurality of massage contacts 403 evenly spaced inside the elastic band 401. The massage contacts 403 are electrically connected to each other via a cable 402, which is also electrically connected to the electrical box 102. Mounting holes 404 are provided on both sides of the interior of the elastic band 401. The elastic band 401 can use its own elasticity to make close contact with the user's arm and bring the massage contacts 403 into contact with the user's arm skin. After the massage contacts 403 are electrically connected to the electrical box 102 via the cable 402, the electrical box 102 can release pulse current to the massage contacts 403, thereby performing current pulse massage on the upper limb muscles through the massage contacts 403. This can provide a massage effect on the upper limb muscles while passively rehabilitating the upper limb joints, further enhancing the device's recovery effect on the user's arm.

[0034] Furthermore, the massage contact 403 is made of stainless steel, with the portion of the massage contact 403 extending into the elastic band 401 being cylindrical and the portion extending out of the elastic band 401 being spherical. Pressure sensors and electromyography (EMG) sensors are fixedly installed on each massage contact 403 within the elastic band 401, and several inertial measurement units are evenly spaced within the elastic band 401. The pressure sensors and EMG sensors enable the device to accurately identify muscles and detect the stimulation intensity applied to them, thereby intelligently controlling the stimulation intensity to prevent excessive muscle stimulation and damage. The inertial measurement units employ a combination of accelerometers and gyroscopes to measure the linear and rotational movements of the patient's arm, allowing for real-time assessment of the arm's current movement state. This facilitates coordination with other components to achieve automated rehabilitation exercises. Furthermore, the detected data can generate personalized rehabilitation plans for the patient, enabling retrospective review of passive rehabilitation exercises for the upper limb joints and further exploration of the patient's upper limb joint recovery.

[0035] Furthermore, the electrical box 102 is connected to an external power source via wires, and the electrical box 102 is electrically connected to several strap assemblies 4. The electrical box 102 integrates an Internet of Things (IoT) module for connecting to the Internet to achieve wireless data transmission.

[0036] Working principle: After connecting the device to an external power source, the user passes his arm through the fixation component 3 and the rehabilitation component 2 in sequence, and holds the handle with his palm facing upward. After the arm is fixed to the fixation component 3 and the rehabilitation component 2 by several sets of strap components 4, the device is controlled by the electrical box 102. After the drive motor 202 is powered on, it rotates and drives the lead screw 203 to reciprocate. The lead screw 203 uses the outer thread to push the slider 204 to slide back and forth inside the mounting base 201, and drives the connecting rod 205 to push the support plate 208 to reciprocate tilting. This allows the user's arm to reciprocate two sets of movements, raising and lowering, with the elbow joint as the origin. At the same time, the support plate 208 moves back and forth in a fan-shaped range with the rotating cylinder 212 as the center, driven by the user, in the front and back direction of the device. This provides three sets of recovery exercises for the elbow joint in the front, back, left, right, up and down directions. While the elbow joint is being exercised, the user can also rotate the wrist joint by holding the handle, which stretches the forearm and upper arm muscles while the wrist joint is being exercised, thus exercising the arm muscles. During the recovery exercise, several cables 402 are connected through the electrical box 102 to release pulse current to the massage contact 403, thereby performing current pulse massage on the user's arm muscles. Combined with joint recovery exercises, this further enhances the overall recovery exercise effect of the device on the user's arm.

[0037] The above specific embodiments are merely several preferred embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A passive rehabilitation device for upper limb joints, comprising a base (1), a rehabilitation component (2), a fixation component (3), and a strap component (4), characterized in that: Two support pads (101) are installed on the bottom sides of the base (1) by means of a threaded structure, and an electrical box (102) is fixedly installed on the top of the base (1) near the front position. A fixing component (3) is fixedly installed on one side of the top of the base (1), and the fixing component (3) includes a support frame (301). A rehabilitation component (2) is fixedly installed on the other side of the top of the base (1). The rehabilitation component (2) includes a support plate (208). Two adjusting screws (216) are rotatably installed on the front and rear sides of the support plate (208). A lateral clamp (217) is installed on the outer side of the adjusting screw (216) through a threaded structure. Several strap assemblies (4) are installed on the top of the support frame (301) and the side clamp (217).

2. The upper limb joint passive rehabilitation device according to claim 1, characterized in that: A rotating shaft (209) is installed on the side of the support plate (208) away from the fixing component (3). A palm rest (210) is fixedly installed on the side of the rotating shaft (209) away from the support plate (208). A rotating cylinder (212) is rotatably installed on the bottom of the support plate (208) near the fixing component (3). A connecting rod is installed through the inside of the rotating cylinder (212), and support plates (207) are rotatably installed at both ends of the connecting rod in the front-back direction. A fixing frame (206) is fixedly installed at the bottom of the support plate (207).

3. The upper limb joint passive rehabilitation device according to claim 2, characterized in that: A handle is fixedly installed on the side of the palm rest (210) away from the pivot (209), and the handle is made of a highly elastic material, such as rubber or silicone.

4. The upper limb joint passive rehabilitation device according to claim 2, characterized in that: The bottom of the fixed frame (206) is fixedly installed with a mounting base (201). The mounting base (201) has an installation groove inside, and a lead screw (203) is rotatably installed inside the mounting groove in the left and right direction. A left and right sliding plate (214) is slidably installed on the bottom of the mounting base (201), and the left and right sliding plate (214) is slidably connected to the mounting base (201). A servo motor (215) is fixedly installed on the left side of the left and right sliding plate (214). A screw is fixedly installed at the output end of the servo motor (215), and the screw passes through the bottom of the mounting base (201). Front and rear sliding rails (213) are slidably installed on both sides of the bottom of the left and right sliding plate (214). The front and rear sliding rails (213) are fixedly installed on the top of the base (1) in the front and rear direction, and the front and rear sliding rails (213) are electromagnetically driven.

5. The upper limb joint passive rehabilitation device according to claim 4, characterized in that: One end of the lead screw (203) is rotatably connected to the inner wall of the mounting groove, and the other end of the lead screw (203) extends out of the mounting base (201). A drive motor (202) is fixedly installed at one end of the lead screw (203) extending out of the mounting base (201), and the housing of the drive motor (202) is fixedly connected to the mounting base (201).

6. The upper limb joint passive rehabilitation device according to claim 4, characterized in that: A slider (204) is installed on the outside of the lead screw (203) via a threaded structure. The slider (204) is engaged with the mounting groove. A rotating seat (211) is rotatably installed on the top of the slider (204). A connecting rod (205) is rotatably installed on the inside of the rotating seat (211). The top of the connecting rod (205) is rotatably connected to the bottom of the support plate (208) on the side away from the fixing component (3).

7. The upper limb joint passive rehabilitation device according to claim 1, characterized in that: An armrest (303) is sewn onto the outside of the support frame (301), and an anti-slip frame (302) is welded to the bottom of the support frame (301), with several rubber rings fitted on the bottom of the anti-slip frame (302).

8. The upper limb joint passive rehabilitation device according to claim 1, characterized in that: The strap assembly (4) includes an elastic band (401), and a plurality of massage contacts (403) are equally spaced inside the elastic band (401). The massage contacts (403) are electrically connected to each other by a cable (402), and the cable (402) is electrically connected to the electrical box (102). Mounting holes (404) are provided on both sides inside the elastic band (401).

9. A passive joint rehabilitation device for the upper limb according to claim 8, characterized in that: The massage contact (403) is made of stainless steel. The part of the massage contact (403) that extends into the elastic band (401) is cylindrical, and the part of the massage contact (403) that extends out of the elastic band (401) is spherical. A pressure sensor and an electromyography sensor are fixedly installed inside each massage contact (403) in the elastic band (401), and several inertial measurement units are installed at equal intervals inside the elastic band (401).

10. The upper limb joint passive rehabilitation device according to claim 1, characterized in that: The electrical box (102) is connected to an external power source via wires, and the electrical box (102) is electrically connected to several strap components (4). The electrical box (102) integrates an Internet of Things module for connecting to the Internet to achieve wireless data transmission.

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