The invention provides a wearable 7-degree-of-freedom
upper limb movement
rehabilitation training
exoskeleton which comprises a supporting rod and an
exoskeleton training device which are fixed on a base, wherein the
exoskeleton training device is formed by connecting a shoulder adduction / abduction joint, a shoulder flexion / extension joint, a shoulder
medial rotation / lateral rotation joint, an
elbow flexion / extension joint, an
elbow medial rotation / lateral rotation joint, a
wrist adduction / abduction joint and a
wrist flexion / extension joint in series. The joints are directly driven by a motor, wherein the shoulder and
elbow rotating joints are additionally provided with a spur-gear set, the structure is simple, and the response speed is high. Compared with the prior art, the exoskeleton provided by the invention has more
degrees of freedom of movement and can adapt to standing and sitting training. The length of an exoskeleton rod can be adjusted according to the height of a patient, thereby ensuring the wearing comfort. A spacing structure is adopted by the joints, thereby improving the safety. Angle and moment sensors at the joint points can acquire kinematic and
dynamic data of each joint in real time, thereby being convenient for physical therapists to subsequently analyze and establish a training scheme to achieve an optimal
rehabilitation effect.