Three-degree-of-freedom wearable upper limb rehabilitation exoskeleton mechanism

A three-degree-of-freedom wearable upper limb rehabilitation exoskeleton mechanism, comprising:

• a shoulder joint mechanism, wherein two ends of the shoulder joint mechanism are fastened to a human shoulder and a human upper arm, respectively, and the shoulder joint mechanism is configured to drive the human upper arm to implement flexion, extension, abduction, and adduction movements;
• and
• an elbow joint mechanism, wherein two ends of the elbow joint mechanism are fastened to the human upper arm and a human forearm, respectively, and the elbow joint mechanism is configured to drive the human forearm to implement flexion and extension movements,
• wherein the shoulder joint mechanism comprises:
• a shoulder fastening member connected to the human shoulder through a first fastening pair;
• a first member connected to the shoulder fastening member through a first revolute pair;
• a second member connected to the first member through a second revolute pair and a fourth revolute pair, axes of the second revolute pair and the fourth revolute pair being coaxially arranged;
• a third member connected to the second member through a third revolute pair, wherein revolute axes of the first revolute pair, the second revolute pair, and the third revolute pair are mutually orthogonal;
• a fourth member connected to the third member through an arc groove, a revolute center of the arc groove being located on a side of the third member close to the human upper arm;
• a fifth member connected to the fourth member through a first cylindrical pair;
• an eighth member connected to the fifth member through a sixth revolute pair, an axis of the first cylindrical pair being orthogonal to a revolute axis of the sixth revolute pair, and the eighth member being connected to the human upper arm through a second fastening pair;
• and
• the elbow joint mechanism comprises:
• the eighth member connected to the human upper arm through the second fastening pair;
• a sixth member connected to the eighth member through a fifth revolute pair;
• a seventh member connected to the sixth member through a second cylindrical pair;
• a ninth member connected to the seventh member through a seventh revolute pair, an axis of the second cylindrical pair being orthogonal to a revolute axis of the seventh revolute pair, and the ninth member being connected to the human forearm through a third fastening pair;
• wherein the eighth member and the human upper arm are vertically fastened to each other through the second fastening pair;
• wherein an axis of the fifth revolute pair is perpendicular to an axis of the first cylindrical pair;
• wherein the ninth member and the human forearm are vertically fastened to each other through the third fastening pair.