270 results about "Wrist joints" patented technology

The invention relates to the technical field of mechanical wrist control, and discloses a mechanical wrist variable stiffness control method based on air pressure feedback. The method comprises the following steps: acquiring real-time air pressure distribution data and joint angle data of the multi-airbag system of the mechanical wrist; calculating an instant air pressure feedback vector of each airbag area according to the difference between the real-time air pressure distribution data and a preset air pressure reference value; based on the real-time air pressure feedback vector and the joint angle data, in combination with predefined airbag area rigidity influence factors, obtaining local rigidity adjustment amount of each airbag area; when it is detected that the real-time torque load of the wrist exceeds a preset load threshold value, the local rigidity adjustment amount is fused to generate a comprehensive target rigidity value of the wrist joint; the priority of contribution of each airbag area to the target stiffness is evaluated, an airbag state switching instruction is output according to the priority, the high-priority airbag area is switched to a high-pressure state, and the low-priority airbag area is maintained in a low-pressure or pressure relief state. The method enhances operation stability and energy efficiency.

An orthosis for support of a joint, adapted to the thumb or wrist, having sleeve-like main member made of an elastic material, adapted to envelop the joint and distal and proximal limb portions on either side of the joint, elastically deformable panel housed in a pocket formed in the main member, and non-elastic bracing device for bracing the main member and a proximal portion of the panel around the proximal limb portion, the panel being configured such that, over at least 50 % of the length of the main member along the limb portions, including a limb portion covered by the bracing device, the panel has a cross-section occupying more than 30 % of the perimeter of the underlying limb, the panel having a stiffness defined by a Young's modulus between S and 10 MPa, while the material forming the main member has a stiffness of a lower order of magnitude.

The present disclosure relates to a prosthesis (400) configured for implantation in a carpometacarpal joint in the wrist, the prosthesis comprising a first and a second implant part member (405a,b) configured to be screwed into a radius and metacarpal bone respectively. Each implant part member (405a,b) comprising an articulation member (420a,b) configured to be received in the bone fixation member (410a,b) in a releasable manner. The articulation members (420a,b) comprise orientation pins (423) configured to be inserted into bore sections of the bone fixation members 410a,b. When seated in the bore sections, the first portions of the articulation members (420a,b) with the orientation pins (423) are substantially centered along the central axes of the bone fixation members (410a,b), thereby forming common central axes extending through the bone fixation members (410a,b) and the articulation members (420a,b). The radius articulation member (420a) comprises a replacement articular surface configured for articulation with a replacement articular surface located on the metacarpal articulation member (420b). The radius replacement articular surface has (420a) a configuration that is asymmetric about the common central axis of the radius bone fixation (410a) and articulation members (420a). The bore sections have cross-section (419) extending perpendicularly to the central axis defining a first polygonal outline (429). The orientation pins (423) have cross-sections defining a second polygonal contour line, such that when the orientation pins (423) of the articulation members (420a,b) are seated in the bores of the bone fixation members (410a,b), rotation of the articulation members (420a,b) in relation to the bone fixation members (410a,b) is prevented.

A humanoid robot arm belongs to the field of humanoid robots and is characterized in that a first driving mechanism is mounted in a first arm fixing part, a second arm fixing part is connected with the output end of the first driving mechanism, and the second driving mechanism and a third driving mechanism are transversely mounted and fixed on the second arm fixing part; the upper end of the U-shaped arm fixing part is fixed with a shell of the third driving mechanism, the second lower end of the U-shaped arm fixing part is hinged with a Y shaft of the hollow cross shaft, the upper part of the manipulator flange is hinged with an X shaft of the hollow cross shaft, and the lower part of the manipulator flange is fixedly connected with the manipulator; the Y axis and the X axis of the mechanical arm intersect at one point, the intersection point is located on the axis, rotating around the Z axis of the arm, of the arm, the three axes intersect at one point, the conveying structure layout is consistent with the human arm movement structure layout, the size is gradually decreased from the elbow joint to the wrist joint, and the characteristic of simulating the human arm is achieved. And the two driving power sources bear driving loads at the same time, and the higher load capacity is achieved.

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.

A wrist joint (100) for a surgical instrument (160) having a proximal end (164), a distal end (166), an end effector (102) mounted at the distal end and (166) at least one actuation tendon (108a, 108b) for actuating the end effector (102) The wrist joint (100) comprises proximal and distal parts (110, 120) having respective proximal and distal rolling surfaces (112, 122), wherein respective axes (114, 124) extend through the proximal and distal parts (110, 120) centrally with respect to the associated rolling surfaces (112, 122). The distal part (120) is rotatably coupled to the proximal part (110) with the proximal and distal rolling surfaces (112, 122) able to roll against one another. Proximal and distal guiding assemblies (130, 132) are mounted to the proximal and distal parts (110, 120) respectively. Respective guiding surfaces (131, 133) of the proximal and distal guiding assemblies (130, 132) are configured to guide the at least one actuation tendon (108a, 108b) therebetween as the at least one actuation tendon (108a, 108b) extends from the proximal end (164) to the end effector (102), thereby decoupling actuation of the end effector (102) from wrist movement.

The invention relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical instruments. The device comprises a main motion platform, a driven execution terminal and a connecting mechanism, the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder and elbow joints; the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform; the driven execution terminal comprises three rotating joints which are sequentially connected in series, and the three rotating joints respectively provide a rotating degree of freedom to correspondingly realize the flexion and extension movement of the wrist joint, the radial ulnar deviation movement and the pronation and supination movement of the forearm. According to the invention, large-range collaborative movement of shoulder and elbow joints and full-degree-of-freedom refined training of wrist joints can be realized at the same time, comprehensiveness of rehabilitation training is improved, and the device is suitable for clinical rehabilitation training of patients with upper limb movement dysfunction.

To depict the actions and / or states of humans, animals, robots, etc., in a realistic or intriguing manner. [Solution] A wrist joint structure according to one embodiment comprises a plate-shaped projection 45 that protrudes from the base of the hand body 44 toward the forearm part 42, a palmar shaft portion 46 that protrudes from the projection 45 in the thickness direction of the projection 45, a joint shaft portion 47 that is pivotably connected to the palmar shaft portion 46, and a connecting projection 420 that protrudes from the tip portion 42E of the forearm part 42 toward the longitudinal direction of the forearm part 42, the connecting projection 420 having a forearm-side shaft support hole 421 that opens in a direction intersecting the longitudinal direction of the forearm part 42 and into which the joint shaft portion 47 is rotatably inserted.

The invention relates to a variable impedance control method for a wrist joint rehabilitation training robot, and the method comprises the steps: constructing a self-adaptive reference stiffness correction model, inputting the rehabilitation score of a patient and the real-time muscular tension of each motion dimension of a wrist joint, and outputting the self-adaptive reference stiffness of each motion dimension; constructing a composite cost function which comprises a contact force safety threshold penalty term model and an impedance parameter change rate penalty term model; and constructing an uncertainty weighted correction model, inputting the composite cost value, the state prediction result and the patient rehabilitation score, and outputting the weighted instantaneous cost. Through the composite cost function and the dynamic impedance adjustment strategy, the impedance adjustment characteristic of the human arm is simulated, high-rigidity rapid approaching in the non-contact stage, low-rigidity high-damping buffering in the contact stage and low-rigidity low-damping compliant control in the stable stage are achieved, and the training comfort and safety are improved. According to limb impedance characteristics, rehabilitation stages and training tasks of patients, personalized requirements and dynamic rehabilitation scenes of different patients can be adapted.

The embodiment of the invention provides a regular hole cutting method and device, a cutting robot and a storage medium, and relates to the technical field of robots. Geometric parameters and cutting parameters corresponding to the to-be-cut regular holes set by a user are obtained, and a plurality of cutting point positions corresponding to the to-be-cut regular holes are determined according to the geometric parameters; under the condition that the current cutting mode is determined to be wrist cutting according to the cutting parameters, the robot Cartesian position of the six-axis body when the sixth joint position serves as the zero-degree position is calculated through a kinematics positive solution; according to the Cartesian position of the robot, the point position Cartesian position of each cutting point position and the tool parameters of the cutting tool, the wrist joint position of the wrist mechanism under each cutting point position is calculated; and the wrist mechanism is driven to move according to the positions of all the wrist joints, so that the cutting tool is moved to all the cutting point positions for regular hole cutting, and therefore the machining efficiency can be improved while the regular hole cutting precision and the automation degree are improved.

The utility model discloses a finger recovery training device, which relates to the technical field of medical rehabilitation equipment and comprises an arm supporting plate, a palm supporting plate, a fixing component, an arm protecting plate and a finger recovery mechanism. The arm supporting plate and the palm supporting plate are of an integrated structure, the palm supporting plate is arranged close to one end of the arm supporting plate, the arm supporting plate is used for supporting an arm, and the palm supporting plate is used for supporting a palm and a wrist joint; the arm protecting plate is arranged on the arm supporting plate through the fixing assembly, and the arm protecting plate is matched with the arm supporting plate; the finger recovery mechanism comprises a four-finger recovery assembly and a thumb recovery assembly; the four-finger recovery assembly and the thumb recovery assembly are arranged on the arm protection plate; the technical problems that although some finger rehabilitation training devices exist in the market, the structure is complex, operation is inconvenient and the like generally exist, and in addition, some devices cannot be adjusted in a personalized mode according to the specific conditions of patients, and the training effect is limited are solved.

This application discloses a training method, apparatus, device, and storage medium for a joint angle prediction model, relating to the field of computer technology. The method includes: acquiring training sample data, which includes skeletal parameters, sample wrist joint pose sequences, and arm angle labels for the sample wrist joint pose sequences; obtaining arm angle feature information based on the sample wrist joint pose sequences using a selective state-space network of the joint angle prediction model to be trained; obtaining elbow position prediction information based on the arm angle feature information and skeletal parameters using a differentiable kinematic layer of the joint angle prediction model to be trained; and iteratively updating and training the joint angle prediction model to be trained based on a preset objective function, the training sample data, the arm angle feature information, and the elbow position prediction information to obtain a trained joint angle prediction model.

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 application provides a kind of based on the tension whole wrist exoskeleton of cable drive, including battery pack and drive unit, first support exoskeleton is adapted to patient's forearm by wearing;Second support exoskeleton is adapted to patient's palm by wearing;Flexion and extension tensioning piece and ulnar and radial tensioning piece are sequentially threaded through first support exoskeleton and second support exoskeleton, when flexion part extends from first direction to flexion and extension drive part, extension part extends along second direction opposite to first direction, when ulnar deviation part extends from third direction to ulnar and radial drive part, radial deviation part extends along fourth direction opposite to third direction, flexion part, extension part, ulnar deviation part and radial deviation part are respectively matched with first support exoskeleton and second support exoskeleton to provide at least four direction degrees of freedom of wrist joint movement.The application can realize that patient wears conveniently and provides multiple degrees of freedom for wrist joint movement, and then improves the treatment effect of patient rehabilitation training.

The present invention relates to a joint bandage for a wrist or an ankle with a strap element, wherein the strap element has at least two elastic sections and at least one non-elastic section between the two elastic sections, wherein the second end of the strap element is reversibly fastenable to the strap element or to a tube element and / or wherein the strap element is at least 40 cm long.

The customized artificial meniscus prosthesis comprises a meniscus body, a joint cotyle is arranged in the middle of the meniscus body, a meniscus joint protrusion capable of simulating the shape and the movement track of a meniscus is installed in the joint cotyle, and a center nail is fixedly connected to the top of the meniscus joint protrusion. The free end of the center nail extends out of the lunar bone body and is arranged in a head-shaped bone of the wrist of the human body, and a plurality of sets of ligament suture holes are further formed in the back side of the lunar bone body. The customized artificial lunar bone prosthesis provided by the invention aims to be applied to lunar bone replacement surgery, mainly aims at treating advanced lunar bone ischemic necrosis caused by non-traumatic or traumatic factors, and is beneficial to improving the stability of the prosthesis and improving the joint activity; basic biomechanics and clinical experiment research verify that the prosthesis has good mechanical properties and clinical curative effects, promote development of the lunar bone prosthesis, enable more patients to retain wrist joint movement, create more values for society and families, and contribute to achieving the goal of healthy China.

The application discloses a kind of fine-diameter pneumatic muscle driven elbow wrist joint flexible rehabilitation device, it is related to the technical field of rehabilitation robot, wearable rehabilitation equipment.It includes glove, wearing in the hand of human body;Elbow guard, wearing in the elbow of human body, is made of flexible fabric;Shoulder guard, wearing in the shoulder of human body, is made of flexible fabric;A pair of forearm fine-diameter pneumatic muscle bundle, setting in the front and back of forearm, one end is connected with glove, one end is connected with elbow guard;A pair of arm fine-diameter pneumatic muscle bundle, setting in the front and back of arm, one end is connected with elbow, the other end is connected with shoulder guard;Control system, the contraction and extension of forearm fine-diameter pneumatic muscle bundle and arm fine-diameter pneumatic muscle bundle are controlled, the data of elbow joint and wrist joint angle are acquired and handled.The application is convenient to wear, more conforming to human body, high comfort, good contraction performance, high compliance.

The application discloses a rope-driven decoupled manipulator and a working method thereof. The manipulator comprises a wrist joint mechanism, a clamping jaw mechanism and a driving mechanism. The wrist joint mechanism is used for enabling the manipulator to perform pitching and yawing actions. The pitching action refers to the ability of the manipulator to perform up-down flipping, and the yawing action refers to the ability of the manipulator to perform left-right flipping. The wrist joint mechanism provides necessary support for the flipping action of the manipulator. The clamping jaw mechanism is used for clamping an object to be clamped to complete grabbing work. The driving mechanism is used for driving the manipulator to flip and clamp, thereby completing the control of the manipulator. The driving mechanism can drive the manipulator to complete rolling, clamping and flipping actions, thereby meeting the flexibility requirement of the manipulator. The first rope and the second rope are controlled to drive the manipulator to complete the pitching or yawing action. The application relates to the technical field of robots.

The present invention relates generally to minimally invasive, cost-effective, adaptable methods, systems, and devices used to repair anatomical joint conditions. The repair may be necessitated by trauma, disease or other conditions. The anatomical joint may specifically include mammalian joints such as the knee, shoulder, elbow, wrist, finger, hip, spine, toe and ankle, for example. The methods, systems, and devices disclosed herein include leveraging the significant (and often unappreciated) role the subchondral bone plays in the health status of the afflicted anatomical joint.

1. Name of the product in this design: Finger and wrist joint tensioner. 2. Purpose of this design: This design is used in conjunction with a wrist strap to improve finger dexterity and strength; it can also be used as rehabilitation equipment and to prevent mouse hand; and it can be used as sports equipment for daily exercise. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key features: the front view.

The application relates to the technical field of semiconductor wafer conveying equipment, in particular to a wrist joint module and a mechanical arm device, the fixed unit is used for fixed connection with a mechanical arm module, the movable unit is used for separable cooperation with an external interfacing unit, the movable unit is used for separable installation on the fixed unit, so that the movable unit is separated from the fixed unit when the movable unit cooperates with the external interfacing unit, and the movable unit is connected with the fixed unit when the movable unit is separated from the external interfacing unit. The purpose of the application is to solve at least one technical problem in the background art, and provide a wrist joint module and a mechanical arm device.

The invention discloses a scale type elbow and wrist joint flexible rehabilitation exoskeleton system based on physiological signal supervision, which comprises a wrist joint flexion pneumatic driver, a wrist joint extension pneumatic driver, an elbow joint flexion pneumatic driver, an elbow joint extension pneumatic driver, a hardware system and a bottom layer control system, the hardware system is matched with the bottom layer control system, motion signals, electromyographic signals, air pressure signals and pulse signals are collected, controllable air pressure is provided for the pneumatic wrist joint driver and the pneumatic elbow joint driver, and the safety stopping mechanism is used for stopping the pneumatic wrist joint driver and the pneumatic elbow joint driver on the basis of the pulse signal strength detected by the pulse sensor in real time. When the pulse signal intensity is lower than a preset safety threshold value and lasts for a certain time, the system automatically stops rehabilitation training, and the maximum atmospheric pressure threshold value of the system is automatically updated. Intelligent rehabilitation training and assistance which are high in integration level, good in safety, high in rehabilitation efficiency and capable of promoting active participation of the patient are provided for the patient with the upper limb elbow and wrist joint dysfunction.

The invention discloses a linear driver for a humanoid robot, and belongs to the technical field of humanoid robots, the linear driver comprises a front end cover, a main fixing frame and a rear end cover which are fixedly connected in sequence from the front end to the rear end, and the outer side wall of the main fixing frame is fixedly connected with a driver; a force sensor is arranged, the force sensor is connected with a linear motion joint of the humanoid robot through a fisheye head with a lead screw, meanwhile, a first-stage speed reduction driving assembly and a second-stage speed reduction rotating assembly are arranged, a linear motion lead screw is arranged in the second-stage speed reduction rotating assembly, and the lead screw is connected with the linear motion joint of the humanoid robot through the fisheye head with the lead screw. According to the structure, the adaptive driving force can be controlled according to the current force value to drive the linear motion joints of the two humanoid robots to do linear motion, and two times of speed reduction and two times of torque increase are achieved in the driving process of the driving force; the requirements of the humanoid robot for large load, large torque and small rotation angle on hip joints, knee joints, ankle joints, elbow joints, wrist joints and the like can be met.

The application discloses a novel human-simulating flexible parallel wrist joint with redundant driving, and has the characteristics that the joint comprises a moving platform (1), an intermediate branch chain (2), a first driving branch chain (3-1), a second driving branch chain (3-2), a third driving branch chain (3-2) and a base (4). The application is based on bionics and bionically designs the bony structure and muscle system of a human wrist joint, adopts a rope driving mode, has a high stiffness bearing ratio, is driven redundantly and has good human-machine interaction performance. The joint can be pulled by three motors through external ropes, converts the rotation of the motors into the movement of the ropes through a movable pulley, realizes 2-DOF (degree of freedom) movement, and is suitable for occasions such as the end wrist joint of an industrial robot, a human-simulating arm wrist joint and an intelligent prosthesis.

A wrist joint mechanism (150) and a robot (500). The wrist joint mechanism (150) comprises: a framework (10); a rotating shaft assembly (50), the rotating shaft assembly (50) comprising a palm connector (60) and a first rotating shaft (53), wherein the first rotating shaft (53) is rotatably connected to the framework (10), the palm connector (60) is rotatably connected to the first rotating shaft (53), the first rotating shaft (53) can rotate around a first axis, and the palm connector (60) can rotate around a second axis, with the first axis and the second axis being perpendicular to each other; and an electric motor (40) disposed on the framework (10), the electric motor (40) being movably connected to the palm connector (60) and configured to drive the palm connector (60) to move around the first axis and the second axis. The wrist joint mechanism with the structure enables the simplification of the assembly process and the reduction in occupied space.

This application provides a smoke-venting energy device and a surgical robot. The smoke-venting energy device includes an instrument housing assembly, a forceps assembly, and an instrument shaft. The forceps assembly includes an actuator, an insulating base, and a wrist joint; the instrument housing assembly has an instrument cable; the instrument shaft connects the forceps assembly and the instrument housing assembly, and the instrument cable passes through the instrument shaft and connects to the forceps assembly to drive the forceps assembly to perform surgical actions; a smoke-collecting component is disposed inside the instrument shaft to form a smoke-collecting chamber with the inner wall of the instrument shaft; the smoke-collecting chamber communicates with the smoke-collecting port and extends to the external surgical area, so that the smoke generated during the surgical actions enters the smoke-collecting chamber through the smoke-collecting port and is eventually discharged to the external surgical area, which can maintain a clear field of vision in the surgical area, which is beneficial for the doctor to accurately judge and operate the surgical area, and improve the continuity and safety of the surgery.

The application provides a four-legged crawling gecko robot and a control system thereof. The four-legged crawling gecko robot comprises a trunk structure, four symmetrically distributed leg structures, and four foot suction cups. The four-legged crawling gecko robot further comprises a motor driving system. A damping turntable is used as a waist joint for connecting a front trunk and a rear trunk of the trunk structure, so that the robot swings left and right. A longitudinal servo steering engine is used as a shoulder joint for connecting the trunk structure and the leg structure, so as to control the lifting and falling of the leg structure. A first transverse servo steering engine is used as an elbow joint for connecting the longitudinal servo steering engine and the leg structure, so as to drive the movement of the leg structure. A second transverse servo steering engine is used as a wrist joint for connecting the leg structure and the foot suction cup, so as to adjust the foot landing point position of the foot suction cup. The four-legged crawling gecko robot can realize flexible movement in a complex environment and maintain the stability of movement in a vertical plane.

This invention provides a surgical instrument retraction control method, a readable storage medium, and a surgical robot system. The surgical instrument retraction control method includes: discretizing key points based on the surgical instrument's shape before retraction, and reconstructing a spline based on the discretized key points; constructing a cost function based on the distance between each key point and the spline when the surgical instrument is in the retraction process; finding the command velocity of the elbow-wrist joint that satisfies the minimum value of the derivative of the cost function with respect to time; integrating the command velocity to obtain the command position of the elbow-wrist joint; and controlling the retraction of the surgical instrument based on the command velocity and the command position. With this configuration, the surgical instrument retracts approximately along a path formed based on its shape before retraction, effectively reducing the possibility of collisions during retraction, and eliminating the need for environmental perception and additional image support.

The invention provides a robot for inspecting blast holes, the robot comprises a vehicle body, a leveling device and a detection device, the leveling device comprises an arm joint assembly, an elbow joint assembly, a wrist joint assembly and a mounting frame for mounting the detection device which are connected in sequence; the arm joint assembly, the elbow joint assembly and the wrist joint assembly can be driven by respective motors to rotate in the horizontal direction so as to adjust the position of the detection equipment; the wrist joint assembly drives the mounting frame to move in a rotating mode so as to adjust the posture presented by the detection equipment on the mounting frame. The problems that the position of detection equipment on an existing hole inspection robot is fixed, the positioning difficulty of a blast hole is large only through overall movement of the hole inspection robot, it cannot be guaranteed that in the process of paying-off detection on the blast hole, paying-off equipment on the hole inspection robot is in a leveling state, and the positioning precision is poor are solved. Therefore, the problem of large deviation of the obtained detection result of the blast hole is solved.

The utility model discloses a wrist joint rehabilitation training device, which comprises a seat body and a support frame arranged on the seat body, a training mechanism is arranged on the support frame, the training mechanism comprises a mounting sleeve and a rotating shaft, an elastic limiting column which abuts against the inner wall of the mounting sleeve is arranged in the mounting sleeve, and the rotating shaft is arranged in the limiting column. A limiting hole for the rotating shaft to penetrate through is formed in the middle of the limiting column, a handle is fixedly connected to one end of the rotating shaft, the other end of the rotating shaft penetrates through the limiting hole and extends to the outer side of the mounting sleeve, and an auxiliary handle is detachably connected to the end, away from the handle, of the rotating shaft. Compared with the prior art, the training device has the advantages that a patient can use the training device by himself / herself, other people can assist the patient in training by rotating the auxiliary handle, and the operation is simple and labor-saving.