The invention discloses a portable type flexible-
elbow-joint
exoskeleton robot which mainly comprises an
elbow joint
exoskeleton mechanism, a drive mechanism and a control device. According to the portable type flexible-
elbow-joint
exoskeleton robot disclosed by the invention, exoskeletons and the drive mechanism are separately arranged, so that transmission is realized through
structural transition of a steel
wire rope and a wheel disc. With the aspect of a drive mode, a
rope drive structure is in series connected with an elastic driver in a matched mode, so that the portable type flexible-elbow-joint
exoskeleton robot has the advantages of high control precision, low
output impedance, strong
impact resistance, good wearing portability and the like. Two passive
degrees of freedom are designed into exoskeletons, and movement characteristics of human
elbow joints is simulated, so that self-adaptive regulation on the exoskeletons and the human
elbow joints is realized, and therefore, the human
elbow joints are protected from being harmed during movement. The portable type flexible-elbow-joint
exoskeleton robot is simple and compact in structure and realizes scientific
rehabilitation training on elbow joints of a patient. Meanwhile, the portable type flexible-elbow-joint
exoskeleton robot further has a power assisting function, and is suitable for being applied and popularized in transportation, climbing and the like.