TWI650114B - Upper limb rehabilitation equipment - Google Patents

Abstract

An upper limb rehabilitation device includes a base unit, a support unit, an upper arm unit and a forearm unit. A first driving member of the base unit can drive the supporting unit to rotate around a first axis, the supporting unit has a supporting rod and a positioning seat, and a second driving member of the positioning seat can drive the upper arm unit A main arm rotates around a second axis, a third driving member of the positioning seat drives a link group of the upper arm unit, and rotates with a tilting shaft, the forearm unit includes a fixed body a forearm group of the moving shaft, a grip seat rotatably mounted to the forearm group, and a straddle mount coupled to the grip holder, the grip holder being driven by a fourth driving member to surround a fourth The axis is rotated, and the holding seat and the straddle seat are respectively placed for positioning of the hand and the forearm of the human body, thereby performing action recording after the upper limb performs the rehabilitation operation, and the automatic recurring action can be achieved.

Description

Upper limb rehabilitation equipment

The invention relates to a human rehabilitation aid device, in particular to an upper limb rehabilitation device.

There is an upper limb rehabilitation device (US Patent No. 9017271 B2) for fixing a horizontally extending upper beam to a wall, a first motor is mounted at the end of the upper beam, and the first motor can drive a crossbar to An axis is rotated about a center of rotation along a horizontal plane. The end of the crossbar is pivotally connected with a hinge member that is moderately rotatable and extends upright. The bottom of the hinge member is provided with a second motor, and the second motor can drive a support member. a second axis is a center of rotation and is perpendicular to the horizontal plane, and a slider is slidable along the longitudinal direction of the support member, and has a third motor that can drive a C-shaped frame to rotate, the C-shaped frame A forearm positioning member is pivotally connected, and a fourth motor can drive the forearm positioning member to rotate. Although the upper limb rehabilitation device can achieve a higher degree of freedom (more than 6) rehabilitation purposes, when the rehabilitation person performs the rehabilitation operation, the upper beam, the cross bar, the hinge member and the like are set in the rehabilitation. The scapula, the humerus, and the shoulder joint are above the subject. Therefore, when the rehabilitation is performed, the range of the upper limbs of the rehabilitation person interferes with the members. In addition, for different genres of rehabilitation, accurate man-machine positioning and adjustment must be carried out.

Another type of upper limb rehabilitation device (WO2013186705A2 patent) is a multi-link mechanism that can be worn on a user's torso like a backpack and drives a cable with a motor to drive a simulated shoulder joint. Although the upper limb rehabilitation device can also achieve the four-degree-of-freedom rehabilitation goal, the rehabilitation of the different genres cannot adjust the arm length, and the structure of the shoulder joint freedom is complicated, and it is difficult to change the position.

Another prior art upper limb rehabilitation device (WO2015048688A1 patent) is to use a motor to drive a horizontal axis extending horizontally on a fixed seat, and the horizontal axis is further driven by another motor to swing up and down, the vertical axis An inner connecting rod is connected, and the inner connecting rod is pivotally connected to an outer connecting rod. Although the upper limb rehabilitation device can also achieve the resilience of three degrees of freedom, the mechanical arm volume needs to be large because the distance between the mechanical rotation center and the center point of the shoulder joint of the human body is relatively long. Furthermore, the outer link has a fixed grip with two degrees of freedom at the end of the fixed grip, and the actual position of the limb of the rehabilitation person cannot be determined.

Accordingly, it is an object of the present invention to provide an upper limb rehabilitation device that is adaptable to different genres, that does not require precise human-machine positioning and that does not interfere when operated.

Therefore, the upper limb rehabilitation device of the present invention is suitable for the human body upper limb rehabilitation operation, and comprises a base unit, a support unit, an upper arm unit and a forearm unit. The base unit includes a first driving member disposed along a first axis, and the supporting unit is subjected to the first a driving member is driven to rotate around the first axis and relative to the base unit, and has a support rod pivotally connected to the base unit, and a positioning base connected to the support rod, the positioning seat is located at the Above the base unit, the positioning base has a second driving member, and a third driving member disposed on one side of the second driving member, the upper arm unit includes a main arm disposed on the positioning seat, and a shaft And a link set on the side of the main arm, the main arm has a receiving end driven by the second driving member and rotatable about a second axis perpendicular to the first axis And a linkage end opposite to the end of the receiving end, the linkage end shaft is provided with a tilting shaft, the connecting rod group is pivotally connected between the positioning seat and the linking end, and the connecting rod group is driven by the third driving member And the tilting shaft is rotatable relative to the linking end, and the forearm unit is rotatable relative to the upper arm unit by the link group, and includes a forearm group fixed to the tilting shaft, and a rotatable Mounted on the holding seat of the forearm group, and is disposed at the same time a cross-seat coupled to the holder at one side and having a fourth driving member driven by the fourth driving member to surround a first axis and the second axis The fourth axis is rotated, and the holding seat and the straddle are respectively placed for positioning of the hand and the forearm of the human body.

The utility model has the advantages that: by using the base unit, the supporting unit, the upper arm unit and the forearm unit, the rehabilitation of the various hand lengths can be adapted without any adjustment, and the precise human-machine positioning is not required. And the operation does not cause interference, and the optimized rehabilitation purpose can be achieved.

1‧‧‧Base unit

123‧‧‧Rotary joint

101‧‧‧Base

124‧‧‧Long slot

102‧‧‧Roller

125‧‧‧ Guide block

103‧‧‧First drive

13‧‧‧Locking parts

104‧‧‧ Lifting parts

13’‧‧‧Locks

105‧‧‧ Mounting

20‧‧‧Adapter

2‧‧‧Support unit

21‧‧‧ main body

201‧‧‧Support rod

22‧‧‧Outer roller shaft

202‧‧‧ Positioning Block

23‧‧‧Inner roller

203‧‧‧second drive

24‧‧‧ Track

204‧‧‧third drive

30‧‧‧ Holding the seat

205‧‧‧ drive shaft

301‧‧‧Sliding frame

205’‧‧‧ drive shaft

302‧‧‧ Holding parts

206‧‧‧ Positioning board

303‧‧‧ wearing sets

206’‧‧‧First card hole

304‧‧‧ inside

206”‧‧‧Second card hole

305‧‧‧Outside

207‧‧‧ positioning button

302'‧‧‧ holding parts

3‧‧‧Upper arm unit

306’‧‧‧ grips

31‧‧‧ primary arm

307’‧‧‧Tie

311‧‧‧Responsible

40‧‧‧fourth drive

312‧‧‧ linkage

41‧‧‧Motor

313‧‧‧掣axis

42‧‧‧ Pulley

32‧‧‧ linkage group

43‧‧‧ Idler

321‧‧‧ pivot board

44‧‧‧toothed belt

322‧‧‧first link

50‧‧‧cross-seat

323‧‧‧second link

51‧‧‧ buckle

324‧‧‧ Third Link

60‧‧‧Flexible parts

325‧‧‧fourth link

L1‧‧‧first axis

4‧‧‧Forearm unit

L2‧‧‧second axis

10‧‧‧Forearm group

L3‧‧‧ third axis

11‧‧‧Main rod

L4‧‧‧fourth axis

12‧‧‧ 前段

L5‧‧‧ fifth axis

121‧‧‧cross bar

L6‧‧‧ sixth axis

122‧‧‧ Straight parts

Other features and advantages of the present invention will be apparent from the embodiments of the present invention. FIG. 1 is a perspective view of an embodiment of the upper limb rehabilitation device of the present invention; FIG. 2 is a view of the embodiment. An incomplete three-dimensional combination diagram illustrating a support unit, an upper arm unit and a forearm unit; FIG. 3 is an incomplete perspective exploded view of the embodiment, illustrating a positioning seat, the upper arm unit and the forearm of the supporting unit FIG. 4 is an incomplete perspective exploded view of the embodiment, illustrating a forearm group of the forearm unit; FIG. 5 is an incomplete side view of the embodiment; FIG. FIG. 7 is a cross-sectional view along line VII-VII of FIG. 6; FIG. 8 is a schematic view of the operation of the embodiment; FIG. 9 is a schematic view of the operation of the embodiment; 10 is an operational schematic diagram and an operation angle conversion formula of the embodiment; FIG. 11 is a schematic diagram of an operation suitable for the right hand of the embodiment; FIG. 12 is a schematic diagram of an operation suitable for the left hand of the embodiment; and FIG. 13 is the embodiment Dress up another grip Schematic diagram of the piece.

Referring to FIG. 1 and FIG. 2, an embodiment of the upper limb rehabilitation device of the present invention is suitable for a human body upper limb rehabilitation operation. The upper limb rehabilitation device comprises a base unit 1, a support unit 2, an upper arm unit 3 and a forearm unit. 4.

The base unit 1 includes a base 101, a plurality of rollers 102 mounted on the bottom of the base 101, a first driving member 103 mounted on the base 101 and disposed along a first axis L1, and a first mounting member 103 mounted thereon. The base 101 can drive the lifting member 104 of the first driving member 103 to be raised and lowered along the first axis L1. The first driving member 103 can be a servo motor, and the lifting member 104 can be a hydraulic cylinder. The first driving member 103 is mounted on the mounting base 105 and is located on the side of the lifting member 104.

The support unit 2 is driven by the first driving member 103 to be rotatable about the first axis L1 and relative to the base unit 1 and has a support rod bent in an L shape and pivotable relative to the base 101. And a positioning base 202 connected to the top of the support rod 201. The bottom end of the support rod 201 is axially disposed on the mounting base 105 and is driven by the first driving member 103. The positioning base 202 is located at the base unit. 1 above and outside, the positioning base 202 has a second driving member 203, a third driving member 204 disposed on one side of the second driving member 203 in parallel, and a pair of vertical L1 along a first axis The second axis L2 is provided with drive shafts 205, 205'. The second and third drive members 203, 204 can be driven by servo motors to drive the drive shafts 205, 205' to rotate independently. In addition, the support rod 201 has a positioning plate 206 with a shaft disposed on the positioning base 202, and a The positioning button 206 has a first card hole 206' and a second card hole 206" spaced apart from the first card hole 206'. The positioning plate 206 is detachably disposed. The button 207 can be inserted into the first card hole 206 ′ or the second card hole 206 ′′, and the positioning seat 202 can be rotated between the first and second positions relative to the support bar 201 , and the positioning seat The 202 is positionable after being rotated relative to the support rod 201.

Referring to FIG. 3 and FIG. 5 , the upper arm unit 3 includes a main arm 31 that is disposed on one of the driving shafts 205 of the positioning base 202 , and another driving shaft 205 ′ that is disposed on the positioning base 202 and located at the same A link set 32 on the side of the main boom 31. The main arm 31 has a receiving end 311 driven by the second driving member 203 and rotatable about the second axis L2, and a connecting end 312 opposite to the receiving end 311. The receiving end 311 In conjunction with one of the drive shafts 205, the linkage end 312 is axially provided with a tilting shaft 313 extending along a third axis L3 parallel to the second axis L2. The connecting rod set 32 is pivotally connected between the other driving shaft 205 ′ of the positioning seat and the linking end 312 . The connecting rod set 32 is driven by the third driving member 204 and can be linked to the rotating shaft 313 . The three axes L3 are rotated about the center of rotation with respect to the interlocking end 312. The connecting rod set 32 has a pivoting plate 321 fixed to the driving shaft 205 ′ and rotatable about the second axis L2 , a first connecting rod 322 pivotally connected to the pivoting plate 321 , and a pivotal connection a second link 323 of the first link 322, a third link 324 pivotally connected between the second link 323 and the linking end 312, and a pivotal connection to the first link 322 A fourth link 325 between the interlocking ends 312 is fixed to the tilting shaft 313.

Referring to FIG. 3, FIG. 4 and FIG. 6, the forearm unit 4 is rotatably coupled to the upper arm unit 3 by the link group 32, and includes a forearm group 10 and a turn fixed to the tilting shaft 313. The holder 20 is mounted on the holder 30 of the adapter 20 so as to be rotatable about a fourth axis L4 perpendicular to the first and second axes L1 and L2. The four driving members 40 and the straddle mount 50 disposed on one side of the front arm group 10 and connected to the adapter base 20.

The forearm assembly 10 has a main rod member 11 fixed to the swaying shaft 313, a front end member 12 rotatably pivotally connected to the main rod member 11, and two front member members 12 relative to the main rod member The piece 11 produces a positioned locking member 13, 13' which is rotatable relative to the main rod 11 about a fifth axis L5 parallel to the fourth axis L4, the locking members 13, 13 'The front piece 12 can be rotated relative to the main rod 11 to be positioned. In this embodiment, one of the locking members 13 is a locking button, and the other locking member 13' is a bolt. The front member 12 has a cross member 121 perpendicular to the fifth axis L5, a straight member 122 vertically connected to one end of the cross member 121, and a rotary joint 123 disposed on the straight member 122. The straight rod member 122 has a long groove 124 and a guide block 125 slidable along the long direction of the long groove 124. The forearm unit 4 further includes an elastic member 60 pivotally connected between the adapter 20 and the straight member 122.

Referring to FIG. 7, the adapter 20 is parallel to the straight member 122 and is axially disposed on the rotary joint 123 and is rotatable about a sixth axis L6 parallel to the third axis L3. The adapter base 20 has a main seat body 21, and a plurality of shafts are disposed outside the main seat body 21. The roller shaft 22, a plurality of inner roller shafts 23 respectively spaced apart from and spaced apart from the outer roller shafts 22, and a circular arc-shaped rail 24 formed between the outer roller shafts 22 and the inner roller shafts 23.

Referring to FIG. 7, the holding seat 30 is placed (or gripped) by the hand of the human body, and has a C-shaped sliding frame 301 rotatably sleeved in the rail 24, and a connection thereto. a sliding frame 301 and a gripping member 302 for positioning the human hand. The sliding frame 301 has an inner side surface 304 defining a wearing portion 303, and an outer convex surface opposite to the inner side surface 304. The outer side surface 305 of the embodiment has a rod shape and is pivotally connected to opposite ends of the sliding frame 301. As shown in FIG. 6 and FIG. 7, the pivot center of the grip member 302 is located on the extension line of the sixth axis L6.

Referring to FIG. 7 , the fourth driving member 40 has a motor 41 mounted on the adapter 20 , a pulley 42 driven by the motor 41 , and an idler 43 disposed on one side of the outer roller 22 . And a toothed belt 44 fixed to the outer side surface 305 of the sliding frame 301 and wraparound the pulley 42 and the idler pulleys 43. The holding seat 30 is driven by the fourth driving member 40 to surround the The fourth axis L4 is rotated.

The straddle mount 50 is coupled to the adapter 20 and is aligned with the sleeve portion 303 of the slide frame 301. The straddle mount 50 has a plurality of clips 51 that can secure the arms of the rehabilitation person.

The elastic member 60 is pivotally connected between the adapter 20 and the guide block 125. The elastic member 60 can be extended by a tension spring or a superior glue, and the adapter 20 can be pivoted relative to the straight member 122. The cushioning of the time, as well as the elastic force that produces a return after pivoting.

As shown in FIG. 1 and FIG. 11 , when the overall assembly of the upper limb rehabilitation device of the present invention is completed and the rehabilitation person is positioned by using the seat or the wheelchair, the rehabilitation engineer can adjust the upper limb rehabilitation device according to the affected side of the rehabilitation person. The orientation, as shown in FIG. 1 and FIG. 11 , shows that the to-be-trained side of the rehabilitation person is the right upper limb, and after the power generator turns on the power and inputs the physiological parameters of the rehabilitation person, the driving parts of the upper limb rehabilitation device can generate the original. Point back. Then, the upper limb rehabilitation device is moved to the side of the rehabilitation person to be trained, and the lifting member 104 is adjusted such that the height of the positioning seat 202 corresponds to the shoulder joint of the rehabilitation person, and the forearm of the rehabilitation person is set. The straddle carrier 50 is positioned with the buckles 51 and the hands of the rehabilitation person are held on the grips 302.

At this time, the rehabilitation teacher drives the upper limb of the rehabilitation person to perform the training operation, and a control unit of the upper limb rehabilitation device (not the focus of the present invention, so the description is not shown, and the figure is not shown) is immediately recorded. When the rehabilitation teacher restarts the initial training button (not shown), the driver of the upper limb rehabilitation device reproduces the recorded action (training start) and continues to operate until the end of the training according to the preset time duration. The drive members of the upper limb rehabilitation device will return to the origin again. Finally, the rehabilitation teacher only needs to unlock the buckles 51 to complete the upper limb rehabilitation operation.

Hereinafter, the above-described training operation will be described in detail, and as shown in FIG. 1, FIG. 2, and FIG. 5, the state of the origin return is displayed. At this time, the upper arm unit 3 is substantially parallel to the first axis L1 and is upright. In this manner, the forearm unit 4 extends substantially horizontally and is perpendicular to the upper arm unit 3.

When the training begins, the action of the upper limb rehabilitation device to reproduce the record is as follows:

The first driving member 103 controls the upper arm unit 3 to be horizontally abducted and received (abbreviated and received: the first driving member 103 controls the upper arm unit 3 to drive the rehabilitation person's arm toward the far side of the rehabilitation person's torso Unfolding, or the first driving member 103 controls the upper arm unit 3 to bring the arm of the rehabilitation person to be inwardly retracted toward the torso of the rehabilitation person: as shown in FIGS. 1 and 6, the first driving member 103 is utilized. The support unit 2 can be driven, and the upper arm unit 3 and the forearm unit 4 are integrally rotated with the first axis L1 as a center of rotation.

The second driving member 203 controls the upper arm unit 3 to perform pre-drive extension (pre-drive extension: the second driving member 203 controls the upper arm unit 3 to drive the rehabilitation arm's arm to swing forward toward the front of the rehabilitation person, or the first The two driving members 203 control the upper arm unit 3 to drive the arm of the rehabilitation person to swing toward the rear of the rehabilitation person: as shown in FIG. 5 to FIG. 9 , when the second driving member 203 drives the driving shaft 205 to rotate, the main arm The interlocking end 312 of the rod 31 is rotated about the second axis L2 as a center of rotation, so that the upper arm of the rehabilitation person can move forward (or backward) with the shoulder joint as the center of rotation.

The third driving member 204 controls the forearm unit 4 to perform pre-drive extension: when the third driving member 204 drives the driving shaft 205' to rotate, the pivoting plate 321 of the connecting rod group 32 is driven and the second axis is L2 is a rotation center rotation, and then the first link 322 is pulled. The first link 322 further pulls the second link 323, the third link 324 and the fourth link 325 relative to the linkage end 312. In turn, the third link 324 simultaneously drives the tilting shaft 313 to rotate with the third axis L3 as a center of rotation, so that the forearm unit 4 can be pivoted relative to the upper arm unit 3, so that the forearm of the rehabilitation person is The elbow joint produces an upward (or downward) swinging motion for the center of rotation.

The fourth driving member 41 controls the inner and outer twisting of the forearm unit 4: as shown in FIG. 7, when the fourth driving member 41 is activated, the motor 41 drives the pulley 42 to rotate, and the toothed belt 44 is tilted. The belt 44 drives the grip holder 30 to rotate with the fourth axis L4 as a center of rotation, thereby driving the forearm to be twisted inside and outside.

In addition, as shown in FIG. 6 and FIG. 7 , the entire structure of the adapter base 20 , the holding base 30 and the straddle mount 50 can be rotated relative to the forearm group 10 by using the sixth axis L6 as a center of rotation. The purpose of the swinging of the wrist joint is achieved, and the elastic member 60 is pivotally connected between the adapter seat 20 and the straight rod member 122 to generate cushioning elasticity. Moreover, the pivoting center of the grip member 302 is located on the extension line of the sixth axis L6, which conforms to the kinetics of the human wrist joint.

As shown in FIG. 11, the positioning button 207 is inserted into the first card hole 206', so that the positioning seat 202 is positioned relative to the support bar 201 for the right side of the rehabilitation. Rehabilitation of the upper limbs. As shown in FIG. 12, when the positioning button 207 is pulled up, the positioning seat 202 is rotated relative to the support rod 201, and the positioning button 207 can be re-inserted in the second card hole 206", which is suitable for the rehabilitation person. The left upper limb is rehabilitated. At the same time, when the lateral position is changed, the locking members 13, 13' are also operated to position the front member 12 relative to the main rod 11.

It is worth mentioning that, as shown in FIG. 13 , the sliding frame 301 of the holding seat 30 can be assembled with different types of grips 302 ′, which have a U-shaped cross section, in accordance with different rehabilitation requirements. The grip portion 306', and two straps 307' mounted to the grip portion 306' and capable of constraining the palm portion of the rehabilitation person.

Therefore, the following can further summarize the effects that can be produced by the present invention as follows:

1. By using the base unit 1, the support unit 2, and the upper arm unit 3 and the forearm unit 4 as a whole, a three-dimensional regenerative action can be generated for the upper limb.

Second, as shown in Figure 10, the rehabilitation can be adapted to the rehabilitation of various hand lengths without adjustment, and accurate human-machine positioning is not required.

3. The rehabilitation person does not interfere with the device during the rehabilitation operation, and the rehabilitation engineer assists the operation without being hindered, and the optimized rehabilitation purpose can be achieved.

Fourth, it can be adapted to the rehabilitation operation of different lateral positions, and the operation and positioning of the conversion side position are quite easy.

In summary, the upper limb rehabilitation device of the present invention can be applied to a rehabilitation person of different genres, does not require precise human-machine positioning, and does not interfere when operating, and can truly achieve the object of the present invention.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.

Claims (10)

An upper limb rehabilitation device suitable for a human upper limb rehabilitation operation, the upper limb rehabilitation device comprising: a base unit including a first driving member disposed along a first axis; and a supporting unit driven by the first driving member Squeezing about the first axis and relative to the base unit, and having a support rod pivotally connected to the base unit, and a positioning base connected to the support rod, the positioning seat is located above the base unit The positioning base has a second driving member, and a third driving member disposed on one side of the second driving member; an upper arm unit including a main arm disposed on the positioning seat, and an axis disposed at the positioning a link set on one side of the main boom, the main arm having a receiving end driven by the second driving member and rotatable about a second axis perpendicular to the first axis, and a Conversely, the interlocking end of the receiving end is provided with a tilting shaft, the connecting rod group is pivotally connected between the positioning seat and the linking end, and the connecting rod group is driven by the third driving member and can be linked The tilting shaft rotates relative to the linkage end; and The forearm unit is rotatable relative to the upper arm unit by the link group, and includes a forearm group fixed to the tilting shaft, a grip seat rotatably mounted to the forearm group, and a combination a straddle mount on one side of the forearm set and connected to the grip holder, the forearm set having a fourth drive member driven by the fourth drive member to be perpendicular to the first axis and the The fourth axis of the second axis is rotated, and the holding seat and the straddle are respectively placed for positioning of the hand and the forearm of the human body. The upper limb rehabilitation device according to claim 1, wherein the base unit further includes a lifting member that can drive the first driving member, the supporting unit, the upper arm unit, and the forearm unit to be raised and lowered along the first axis. . The upper limb rehabilitation device of claim 1, wherein the link group of the upper arm unit has a pivot plate disposed on the positioning seat and rotatable about the second axis, and a pivoting plate is pivoted to the pivot plate. a first connecting rod, a second connecting rod pivotally connected to the first connecting rod, a third connecting rod pivotally connected between the second connecting rod and the linking end, and a first pivoting connection a fourth link between the connecting rod and the linking end, the third link is fixed to the swaying shaft, and the swaying shaft extends along a third axis parallel to the second axis. The upper limb rehabilitation device of claim 3, wherein the forearm group of the forearm unit further has a main lever fixed to the swing shaft, and a front member rotatably pivotally connected to the main lever member, And at least one locking member for positioning the front piece relative to the main rod, the front piece being rotatable relative to the main rod about a fifth axis parallel to the fourth axis, the locking member The front piece can be positioned after being rotated relative to the main rod. The upper limb rehabilitation device of claim 4, wherein the front piece of the forearm unit has a cross bar member, a straight bar member connected to one end of the cross bar member, and a rotary joint disposed on the straight bar member. The forearm unit further includes an adapter coupled between the straight member and the holder, and an elastic member pivotally coupled between the adapter and the straight member, the adapter being parallel And the shaft member is axially disposed on the rotary joint and rotatable about a sixth axis parallel to the third axis, the elastic member providing a cushioning when the adapter pivots relative to the straight member, and The elastic force of the return after pivoting. The upper limb rehabilitation device according to claim 5, wherein the straight member of the forearm group of the forearm unit has a long groove, and a guide block slidable along the longitudinal direction of the long groove, wherein the elastic member has one end pivot Connected to the guide block. The upper limb rehabilitation device according to claim 5, wherein the adapter base of the forearm unit has a main seat body, and a plurality of shafts are disposed on the outer roller shaft of the main seat body, and the plurality of shafts are respectively opposite to the outer roller shafts. An inner roller shaft spaced apart from each other, and an arc-shaped track formed between the outer roller shaft and the inner roller shaft, the holder having a C-shaped rotatably sleeved in the rail a sliding frame, and a holding member connected to the sliding frame and capable of positioning the human hand, the fourth driving member can swing the sliding frame to rotate with the fourth axis as a center of rotation. The upper limb rehabilitation device according to claim 7, wherein the fourth driving member has a motor mounted on the adapter, a pulley driven by the motor, and two shafts disposed on one side of the outer roller shaft. An idler pulley, and a toothed belt fixed to the sliding frame and wound around the pulley and the idler pulley. The upper limb rehabilitation device according to claim 7, wherein the pivot center of the grip member of the forearm unit is located on an extension line of the sixth axis. The upper limb rehabilitation device of claim 1, wherein the support rod of the support unit has a positioning plate disposed on one side of the positioning seat, and a positioning button detachably disposed on the positioning seat, the positioning The plate has a first card hole and a second card hole, and the positioning button can be embedded with the first card hole and the second card hole, and the positioning seat can be opposite to the support bar. The first and second positions rotate, and the positioning seat can be positioned after being rotated relative to the support rod.