The invention provides a five-freedom
exoskeleton type
robot for healing upper limbs, which comprises a mounting
deck used for mounting the
robot. The mounting
deck is provided with a lead rail, an erector is arranged on the lead rail and is provided with a height adjustment mechanism, a rotatable mounting arm is arranged on the erector by a rotatable axis. A healing mechanical arm body composed of a
shoulder width, an upper arm, a
forearm and a hand lever is installed on the rotatable mounting arm. Five freedom joints and five drive motors are respectively arranged on the rotatable axis of each joint; four torque sensors which are connected with the drive motors in a cascading way are respectively arranged on the parts of shoulder,
elbow and
wrist, wherein, the shoulder parts are provided with two torque sensors, the
elbow part is provided with one
torque sensor and the push-up part of the
wrist part is provided with one
torque sensor. The torque sensors that are taken as transfer devices and detecting devices are connected with a motor
reducer and an executing mechanism. The
robot provides single joint movement of each joint and three-dimension multi-
joint compound movement for suffers as well as provides simple and basic movement training of daily life.