205 results about "Shoulder joint capsule" patented technology

The invention relates to the field of medical instruments, in particular to an abduction assisting device for shoulder joints, which comprises a support, a support plate for bearing arms is hinged to the top of the support, and a driving mechanism, an adjusting mechanism, a fitting mechanism, a support mechanism and a locking mechanism are arranged on the support; the driving mechanism is used for driving the adjusting mechanism, the laminating mechanism and the supporting mechanism to operate synchronously; the adjusting mechanism is used for driving the supporting plate to rotate around the hinge point so as to adjust the abduction angle. The attaching mechanism comprises an air bag fixedly connected to the supporting plate, and the attaching mechanism is used for synchronously inflating or deflating when the angle is adjusted by the adjusting mechanism so as to be attached to the arm; the supporting mechanism is used for synchronously providing or releasing additional supporting force for the supporting plate when the adjusting mechanism adjusts the angle; the locking mechanism is used for locking the adjusting mechanism after angle adjustment is completed. The use process is simplified, the operation threshold is lowered, the rehabilitation preparation time can be saved, and the clinical use efficiency is improved.

The invention discloses a topological mapping monitoring and correcting method for abnormal scapular brachial rhythm after breast surgery, and belongs to the field of medical rehabilitation and computer vision. The method comprises the following steps: acquiring a trunk dynamic three-dimensional point cloud and infrared thermal imaging data; constructing a multi-layer collaborative dynamic topology network fusing a skeleton structure, soft tissue deformation and physiological activeness; extracting an intrinsic motion field and comparing the intrinsic motion field with the ideal model to generate deviation measurement; and calculating a dynamic instability index, comparing the dynamic instability index with a threshold value, and triggering optimization energy correction path calculation and instruction output. According to the method, the multi-dimensional topological mapping and dynamics prediction technology is adopted, accurate recognition and feed-forward early warning of motion abnormity under the influence of deep tissue adhesion after the breast surgery can be achieved, rehabilitation of a patient is guided through an energy consumption minimization path, and the accuracy of shoulder joint function remodeling and the individualized treatment effect are improved.

A robot manipulator has a base; an arm connected to the base via at least a shoulder joint; and a control system with a dynamic stability determination module. The dynamic stability determination module of the control system determines whether a dynamic stability criterion is met. If the dynamic stability criterion is met, the arm is responds compliantly to an applied force; and if the dynamic stability criterion is not met, the control system causes motion of the base in the direction of the applied force.

The application provides a double-arm upper limb exoskeleton rehabilitation training device, a back component can slide on a base stand in a first direction, a scapula component can slide on the back component in a second direction and moves with the back component, the scapula component is used for following the shoulder movement of a patient, a large arm component is rotationally connected with the scapula component and is used for fixing the large arm of the patient, a small arm component is rotationally connected with the large arm component and is used for fixing the small arm of the patient, and a wrist component is rotationally connected with the small arm component and is used for being held by the patient. The scapula component of the double arm is connected with the back component and rotationally connected with the large arm component, can flexibly move following the shoulder joint of the patient, is not limited to abduction / adduction and flexion / extension, can open the arms according to the needs and carry out multi-angle rehabilitation movement in combination with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the application scene of the upper limb exoskeleton is promoted.

The invention provides a shoulder joint subluxation evaluation data acquisition method and system. The method comprises the steps that first shoulder joint image data of a shoulder joint area on the affected side of a patient are collected through an imaging assembly, then the imaging assembly is controlled to rotate by a preset angle value, second shoulder joint image data are collected, and then according to the first position offset of the first shoulder joint image data and the second shoulder joint image data, the first shoulder joint image data and the second shoulder joint image data are obtained. Determining an imaging assembly compensation angle according to the first position offset of the first shoulder joint image data and the second position offset of the second shoulder joint image data and the standard shoulder joint image data of the first acquisition point, and finally adjusting the imaging angle of the imaging assembly according to the imaging assembly compensation angle. Therefore, the shoulder joint subluxation evaluation data acquisition of the first acquisition point is completed, so that the standardization degree and objective consistency of the shoulder joint subluxation evaluation data acquisition are effectively improved.

The utility model relates to a PET (Polyethylene Terephthalate) patch for an inner support of a shoulder joint. The PET patch for the inner support of the shoulder joint is formed by weaving PET materials. The shoulder joint inner support PET patch comprises a fixing section and a traction section which are oppositely arranged, the traction section comprises two traction holes which are formed in a spaced mode, and reinforcing wires are woven on the hole edge of each traction hole. The shoulder joint inner support PET patch is formed by weaving PET materials, has the effects of being high in strength and not prone to dissolution, and can stably connect the humerus head and the glenoid cavity. The patch is provided with the traction hole positions at fixed intervals and the open type fixing section positions, so that perforation or threading can be performed on the fixing section according to the specification and the size of a use object to realize unified distribution, and the convenience of an operation is improved. Reinforcing wires are woven on the edges of the traction holes to improve the strength of the traction holes, pull cracks are avoided, and the traction success rate is increased.

The application relates to the technical field of medical rehabilitation robots, in particular to a safe upper limb rehabilitation exoskeleton robot, which comprises a fixing frame and a mechanical arm arranged on the fixing frame and used for assisting the movement of a patient's arm, the mechanical arm comprises, in sequence, a shoulder joint vertical folding and unfolding module, a shoulder joint horizontal folding and unfolding module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a wrist joint flexion and extension module and a lower arm rotating module, the mechanical arm can be suitable for a left arm or a right arm by switching left and right states. Each module of the mechanical arm is provided with a mechanical limiting structure used for limiting the activity range of the corresponding module, and the mechanical limiting structure can switch left and right states, and is used for synchronously switching when the mechanical arm switches left and right states to ensure the safety of the patient. The spring positioning pin is used for adjustably limiting, the application can realize the left and right exchange function of the mechanical arm, ensure the mechanical safety limiting of the limit angle of the two arms and improve the safety of the equipment.

The application discloses a mold for manufacturing a shoulder joint spacer and a preparation method thereof, belongs to the technical field of shoulder joint spacer preparation, and solves the problems of uneven distribution of medicine application grooves and the inability to flexibly adjust the size, length and the like according to requirements, and comprises a lower mold box, an upper mold box, an intramedullary bone cement silica gel forming adjusting mold and a ball head forming adjusting mold which are sleeved in the lower mold box and the upper mold box, a pouring gate which is arranged on the lower mold box and the upper mold box, a plugging plug which is arranged in the pouring gate, a first positioning support column and a second positioning support column which are arranged in the lower mold box, a third positioning support column and a fourth positioning support column which are arranged in the upper mold box, and a metal support rod which is arranged on the axial center lines of the intramedullary bone cement silica gel forming adjusting mold and the ball head forming adjusting mold; and the intramedullary bone cement silica gel forming adjusting mold and the ball head forming adjusting mold are uniformly provided with protruding portions.

This invention belongs to the field of robot joint technology, specifically relating to a rope-driven, decoupled, dual-parallel five-DOF bionic shoulder joint, including a scapulothoracic joint mechanism, a glenohumeral joint mechanism, a drive base device, and drive ropes. The scapulothoracic joint mechanism and the glenohumeral joint mechanism are internally rotatably connected. The drive base device is used to fix the scapulothoracic joint mechanism and to provide drive ropes for both mechanisms. The scapulothoracic joint mechanism is constrained by a first constraint branch, a second constraint branch, and a decoupling through-line branch, satisfying the pure rolling two-DOF rotation requirement, driven by two sets of antagonistic drive ropes. The glenohumeral joint mechanism is driven by four independent drive ropes to achieve three-DOF rotational motion. The decoupling through-line branches distribute the drive ropes of the glenohumeral joint mechanism, achieving physical decoupling and ensuring that the drives of the two mechanisms do not interfere with each other. Through rope-driven and dual-parallel passive mechanisms, a larger range of motion can be achieved, improving the stiffness and load-bearing capacity of the mechanism.

The application discloses an upper limb supporting exoskeleton based on a negative pressure occlusion variable stiffness driver, which comprises a shoulder joint supporting structure, an elbow joint supporting structure connected with the shoulder joint supporting structure, a waist belt and a back strap; the waist belt and the back strap form a backpack type structure, and the shoulder joint supporting structure is fixed on the shoulder and back of a human body; the shoulder joint supporting structure is connected with the elbow joint supporting supporting structure through a large arm guide rail sliding block and can slide relatively to meet the wearers with different large arm lengths; a fixing plate for fixing the elbow joint supporting structure with the large arm and the small arm of the wearer is arranged on the elbow joint supporting structure. The upper limb supporting exoskeleton based on the negative pressure occlusion variable stiffness driver adopts the variable stiffness driver as part of the joints of the robot, guarantees sufficient degrees of freedom and supporting effect, improves the adaptability of the whole system, allows the wearers to change the stiffness of part of the joints according to the self needs and environmental conditions, and makes the activities of the wearers in the non-working state more flexible and the movement resistance smaller.

The utility model relates to the technical field of robots, and discloses a modularized bionic quadruped robot which comprises a body part, four shoulder joints are arranged on the side face of the body part, knee joints are rotationally connected to the ends, away from the body part, of the shoulder joints, walking supporting feet are arranged at the ends, away from the shoulder joints, of the knee joints, and inserting columns are fixedly installed on one sides of the walking supporting feet. Inserting grooves matched with the inserting columns are formed in the ends, close to the walking supporting legs, of the knee joints, first locking threaded rods penetrate through the opposite side faces of the inserting columns, and first adjusting grooves which penetrate through the side faces of the knee joints and are matched with the first locking threaded rods are formed in the opposite side walls in the inserting grooves. According to the walking support leg, the inserting column is inserted into the inserting groove, the first locking threaded rod penetrates through the knee joint and the inserting column and locks the first locking nut, the walking support leg can be conveniently installed and replaced, the replacement cost of the walking support leg is reduced, and the distance between the walking support leg and the knee joint can be adjusted according to the actual situation; and the application range of the robot is widened.

The invention discloses an exoskeleton shoulder joint rotation center position control method oriented to a shoulder-brachial rhythm, and relates to the technical field of upper limb exoskeleton rehabilitation robot control. Inputting the posture information of the big arm of the human body into the shoulder-brachial rhythm mapping model, and calculating the motion angle of the sternoclavicular joint of the human body; inputting the posture information of the big arm of the human body into the exoskeleton kinematics model for inverse kinematics solution by taking the motion angle as a constraint condition of the exoskeleton kinematics model to obtain a joint angle variable of a rotation center of the shoulder joint of the exoskeleton; the joint angle variable serves as a target motion angle, and target control torque is calculated; when the exoskeleton shoulder joint is driven to move and alignment deviation is judged to exist based on the collected second electromyographic signals, the exoskeleton shoulder joint is subjected to compensation adjustment until the alignment deviation is eliminated; the problem of human-machine joint dislocation is solved, the risk of shoulder joint collision is avoided, the human-machine compatibility is enhanced, and the device is suitable for dynamic scenes such as individual difference and sitting posture deviation of patients.

This invention relates to a method for solving the inverse kinematics of a robotic arm based on autonomous planning of redundant parameters, comprising: Step 1, the rotation axes of joints 1 to 3 of the robotic arm intersect at point Ps and are designated as the shoulder joint; the rotation center of joint 4 is Pe and is designated as the elbow joint; the rotation axes of joints 5 to 7 intersect at point Pw and are designated as the wrist joint; Step 2, the "shoulder-elbow-wrist" structural parameters are determined as: l bs l se l ew l wt Step 3: Solve for θ in the base coordinate system to find the vector of line PsPw. 1_0 θ 2_0 θ 3_0 θ 4_0 Step 4: Define the angle between the PsPePw plane and the reference plane as the redundancy angle; establish the functional relationship between θ1, θ2, θ3 and θ5, θ6, θ7 and the redundancy angle; Step 5: Solve for the initial inverse joint combination; Step 6: Solve for the optimal redundancy angle; Step 7: Substitute the optimal redundancy angle into the relational expression to finally solve for θ1, θ2, θ3 and θ5, θ6, θ7; Step 8: Use the calculated θ1~θ7 as the desired trajectory. This invention improves the control accuracy of the robotic arm and the operating efficiency of the controller.

The invention relates to a robot (1) comprising a torso (19) with a first shoulder joint assembly (2) and a second shoulder joint assembly (3), wherein each shoulder joint assembly (2, 3) comprises the following elements: - a housing (20) in which a globoid worm gear (7) with a worm shaft (8) and a worm wheel (9) is arranged, - a drive unit (10), and - a belt drive (11) which effectively connects the globoid worm gear (7) to the drive unit (10) via a belt (12), wherein the elements of the two shoulder joint assemblies (2, 3) are each substantially identical, and wherein the worm wheels (9) of the two shoulder joint assemblies (2, 3) are arranged in reverse orientation in the associated housing (20).

The utility model relates to the technical field of robots, and discloses a robot upper arm structure which comprises an upper arm body arranged on a shoulder mounting seat, the upper arm body comprises a shoulder joint assembly and an arm assembly connected with the front end of the shoulder joint assembly, a first transmission part is arranged at the end of the shoulder mounting seat, and a second transmission part is arranged at the end of the shoulder mounting seat. A first motor for driving the first conveying piece to rotate is arranged in the shoulder mounting seat; the shoulder joint assembly comprises a joint support and a joint seat rotationally connected with the joint support, the front end of the joint support is connected with the first transmission part, and a second motor used for driving the joint seat to rotate in the joint support is arranged at the rear end of the joint support; the gravity center of the shoulder joint assembly and the gravity center of the arm assembly are distributed on the two sides of the axis of the first transmission part. The utility model has the beneficial effects that the load at the shoulder joint is reduced through torque compensation, and the stability is better.

The invention discloses an artificial shoulder joint prosthesis design method and system, and the method comprises the steps: collecting the motion trail and muscle activation state of a shoulder joint in different motion modes, separating the feature frequency and amplitude of the shoulder joint motion, and extracting a dynamic motion feature set of the shoulder joint; inputting the dynamic motion feature set into a contact mechanical model based on a discrete element method, and simulating contact force and friction behaviors between the shoulder joint prosthesis and the skeleton to obtain contact mechanical characteristics of the prosthesis and the skeleton; and according to the contact mechanical characteristics, generating an initial structure of the prosthesis by using a topological optimization algorithm based on a generative adversarial network, generating a prosthesis topological structure with gradient material distribution, and obtaining an optimized prosthesis design scheme. By utilizing the embodiment of the invention, a prosthesis design scheme with gradient material distribution can be generated, the weight of the prosthesis is reduced, and the strength and durability of the prosthesis are enhanced.

1. The name of the design product: shoulder joint trainer. 2. The use of the design product: for assisting shoulder joint circle drawing training. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view.

The invention relates to the technical field of human exoskeleton robots, and discloses an upper limb exoskeleton self-adaptive shoulder supporting structure which comprises a supporting assembly, a stacking chain assembly and an elastic reset assembly. The supporting assembly is used for connecting the waist supporting assembly. The stacking chain assembly comprises a plurality of linkage pieces, when the multiple linkage pieces are connected, the linkage shaft of the previous linkage piece is rotatably arranged in the first sleeve of the next linkage piece so that the next linkage piece can rotate around the linkage shaft of the previous linkage piece, and therefore the stacking chain assembly is formed. The first sleeve of the connecting piece located at the bottom end in the stacking chain assembly is rotationally connected with the supporting shaft of the supporting assembly, so that all the connecting pieces in the stacking chain assembly can rotate around the axis of the supporting assembly. The stacking chain assembly has the beneficial effects that the stacking chain assembly is high in flexibility, component force obstruction in the horizontal direction can be completely eliminated in the action process, self-adaptive compensation of the joint offset can be achieved, and the axes of human-machine shoulder joints are highly overlapped.

The invention relates to a sliding bag coiler which comprises a machine body and a sliding bag coiling device, a grip is formed on the machine body, the sliding bag coiling device comprises a sliding bag coiling shaft, a manual operation piece and a transmission mechanism which are rotationally arranged on the machine body, and a coiling main shaft of the sliding bag coiling shaft extends out of the machine body; a plurality of grabbing teeth distributed in the circumferential direction are arranged on the circumferential face of a sliding bag grabbing shaft section of the front section of the winding main shaft, the driving end of the sliding bag winding shaft is connected with the transmission mechanism, the manual operation piece drives the sliding bag winding shaft to rotate through the transmission mechanism, and a damping element is arranged between the sliding bag winding shaft and the machine body. The damping element provides a retarding force when the slide bag take-up shaft rotates. Most of the sliding sacs in the area can be taken out in a one-time and controllable mode, and the sliding sacs in different areas under the acromion can be easily, conveniently and effectively cleaned by an operator.

A shoulder orthosis configured to control a position of the humeral head / arm relative to a shoulder joint by adjusting tension across a joint. The orthosis allows a user to modify a direction and magnitude of force applied while wearing the orthosis. The orthosis may contain cams or extensions to direct and amplify force around the joint towards a specific range of motion. The orthosis can be made from digitally imaging joints and then partially or fully automating the design of orthosis.

This utility model discloses a post-shoulder joint surgery support pillow, relating to the field of support pillow technology. It includes a pillow body comprising a neck support, a scapular support, and an arm support connected together. Two arm supports are provided, located on either side of the scapula, and are slidably connected to the scapula. A groove is provided at the bottom of the scapula, and a connecting block is provided at the bottom of the arm support. One end of the connecting block has a locking block adapted to the groove. The neck support, scapula, and arm supports provide auxiliary support for the patient's neck, scapular region, and upper arm, thereby promoting patient recovery. Furthermore, the arm supports, through the cooperation mechanism of the locking block and groove, realize the adjustable distance between the two arm supports to accommodate users of different body types. This support pillow has a simple and practical structure.

The invention provides a fixing steel plate for proximal humerus comminuted fracture, and relates to the technical field of proximal humerus fracture, the fixing steel plate comprises a main steel plate with a connecting hole and a branch steel plate fixed with the main steel plate through the connecting hole; a plurality of extending claws are arranged on the side, away from the main steel plate, of the branch steel plate, and fixing structures are arranged at the ends of the extending claws and can connect bone fragments and make the bone fragments tightly attached to the main bone. The branch steel plates can be strip-shaped or ring-shaped, and the extension claws can be integrally formed or detachably combined. The problems that a traditional steel plate can only be placed on the outer side, and when fractures are smashed, the upper rear large nodule and the inner fracture blocks are difficult to fix and prone to displacement or internal fixation fails are solved, all-directional fixation is achieved, the steel plate is suitable for different fracture scenes, operative wounds are reduced, and shoulder joint function recovery is assisted.

The technical scheme of the present application provides a kind of limbs joint support structure, including upper support part, lower support part and link part, the upper support part and the lower support part can be bent to arc surface shape from both sides, for fitting to the upper limbs and lower limbs at the joint of patient;Two ends of the link part are connected to the upper support part and the lower support part respectively, for fitting to joint position, the width of the link part is less than the upper support part and the lower support part, so that two grooves are formed between the link part and the upper support part and the lower support part.The beneficial effects of the present application form a link part between the upper support part and the lower support part through the groove, the link part is bent and fitted to the joint, avoiding the generation of corner, when bending, it can be simplified, whether the material has enough ductility or not, it can meet the requirements, the structure is simple, the complexity is low, and the production process is simple, the operability is high;Shoulder joint, elbow joint, ankle and other parts are applicable, and the structure design has certain universality.

The utility model relates to the technical field of medical care instruments, and discloses an adjustable shoulder joint cold and hot compress pillow which comprises a back body, and one side of the back body is fixedly connected with an adjusting mechanism. According to the adjustable shoulder joint cold and hot compress pillow, through the arrangement of the back body, the adjusting mechanism, the shoulder body and the stabilizing mechanism, before a patient wears the adjustable shoulder joint cold and hot compress pillow, the connecting positions of hook and loop fasteners of a left connecting belt and a right connecting belt are adjusted according to the body type of the patient, so that the size of the cold and hot compress pillow is matched with the body type of the patient; the stable hair surfaces on the left and right binding bands of the shoulder main body are tightly attached to the stable hook surfaces to ensure that the cold and hot compress pillow is tightly attached to the shoulders and is not easy to fall off, so that the adjustable design enables the cold and hot compress pillow to adjust the connecting position of the left connecting band and the right connecting band according to different shoulder shapes and sizes of patients; better fitting feeling and comfort are provided, and the situation that the treatment effect is reduced due to the fact that fitting performance is poor or fixing is not easy is avoided.

The utility model relates to the field of shoulder joints, and discloses an anti-falling shoulder joint postoperative hand support which comprises a sheath, the top of the sheath is connected with a bandage, a shoulder strap is connected between the rear ends of chucks on the two sides of the sheath, a telescopic assembly is installed at the front end of the sheath, an adjusting assembly is installed between the sheath and the shoulder strap, and the adjusting assembly is connected with the sheath. The telescopic assembly comprises a telescopic sleeve, four guide rods are fixedly installed on the rear portion of the telescopic sleeve, the guide rods penetrate through the front end of the protective sleeve, a plurality of positioning grooves are formed in the outer portions of two of the guide rods, and two clamping columns are movably installed in the protective sleeve in a penetrating mode. Through the guide rod and the telescopic sleeve, the telescopic length of the telescopic sleeve can be adjusted conveniently, limbs with different lengths can be supported and fixed, and automatic fixing after telescopic adjustment is facilitated; through the hanging belt and the sliding sleeve, the bending degree and the supporting height of the hand and the limbs can be conveniently adjusted, the supporting force of the shoulder joints is reduced, and the overall comfort degree is improved.

This invention discloses a roping-driven humanoid robot with centralized drive arrangement and its compliant control method, belonging to the field of humanoid robot technology. The robot includes: an upper limb torso with joint modules centrally arranged in a Y-shape; an upper limb system comprising a series-connected three-degree-of-freedom parallel attitude-adjusting roping-driven humanoid shoulder joint, upper arm, tension-amplified constant-torque constant-stiffness roping-driven humanoid elbow joint, forearm, rotation-decoupling differential roping-driven humanoid wrist joint, and hand; a pelvic-like structure including a 6-RUHU parallel lumbar joint; and a lower limb system comprising a series-connected hip joint, thigh, tension-amplified constant-stiffness roping-driven knee joint, lower leg, differential roping-driven ankle joint, and foot. This invention also discloses a forceless sensing compliant control method based on a motor current and dynamics model. This invention achieves centralized center of gravity, lightweight design, wide-range constant torque output, and safe and flexible interaction, making it suitable for service, collaboration, and other humanoid robot application scenarios.

The utility model provides a kind of electric stimulation auxiliary positioning glove for upper limb, including glove main body, adopt wearable flexible cover body structure by metacarpophalangeal joint extends to shoulder joint, wherein, metacarpophalangeal joint corresponding area is equipped with fabric connecting part to realize the fixed connection of volar commissure part, the palm corresponding area of glove main body is equipped with the finger sleeve structure for finger to pass through;Fixed component is used to prevent slipping to reach positioning effect with glove main body adhering to limb;Muscle group position mark is drawn on the glove main body, for identifying the position of muscle group;And electric stimulation site mark is identified on the glove main body, for identifying commonly used electric stimulation site, the electric stimulation site mark includes concentrically arranged circular indicating line and the composite positioning mark of cross-shaped opening composition, for the mark of stimulating position.The glove main body of the scheme is operated by unique mark by patient or family member etc. non medical personnel, and the work burden of medical staff is reduced.

The invention relates to an exoskeleton power assisting device. The exoskeleton power assisting device comprises a back plate, a supporting mechanism and a shoulder joint mechanism. The back plate is used for being fixed to the back of a human body and has the adjustable width. The supporting mechanism is used for fixing human upper limbs; the shoulder joint mechanism is arranged between the supporting mechanism and the back plate to adapt to movement of the upper limbs relative to the back plate, the shoulder joint mechanism comprises a first movable structure and a second movable structure, and the first movable structure is used for enabling the shoulder joint mechanism to adapt to abduction and adduction movement of the upper limbs of the human body; the second movable structure is used for enabling the shoulder joint mechanism to adapt to forward flexion and backward extension movement of the upper limbs of the human body. By means of the technical scheme, the exoskeleton power assisting device is more suitable for clinical operations and has higher flexibility, universality and adaptability.

The utility model relates to the technical field of rehabilitation medical instruments, in particular to a shoulder joint body side extorsion movement assist device which comprises a first fixing part, a second fixing part and a third fixing part. The first fixing piece is fixedly arranged; the second fixing piece is arranged on the upper arm of the patient and connected with the first fixing piece, the first fixing piece is used for limiting the second fixing piece to move in the direction away from the first fixing piece, and the second fixing piece can rotate relative to the first fixing piece; the third fixing part is arranged on the forearm of the patient, the third fixing part is perpendicular to the second fixing part so that the forearm of the patient can be kept perpendicular to the upper arm, and the third fixing part rotates around the axial direction of the second fixing part so that the forearm of the patient can rotate with the axial direction of the upper arm as the rotation center. According to the rehabilitation training device, through connection of the first fixing piece and the second fixing piece, the upper arms of the patient are prevented from being away from the trunk, the second fixing piece and the third fixing piece are perpendicularly arranged, the elbows are prevented from being gradually straightened when the shoulders rotate outwards, and the rehabilitation training effect of the patient is improved.