Upper limb rehabilitation robot

An upper limb rehabilitation robot comprising:

• a base frame that has a side to which a connecting support is laterally connected;
• a connecting shaft unit that is rotatably disposed at a side of the connecting support;
• a link unit that has a side coupled to the connecting shaft unit and an other side with an upper limb connector adapted to be connected to an upper limb of a person who needs rehabilitation;
• an active actuator that is disposed at the side of the connecting support, connected with the connecting shaft unit, and rotates the connecting shaft unit;
• and
• a manual actuator that is connected to the connecting shaft unit and generates resistant torque against rotation of the connecting shaft unit;
• wherein the link unit includes:
• a first rod fixed to the connecting shaft unit;
• a second rod with an end rotatably coupled to the connecting shaft unit;
• a third rod with a side rotatably coupled to an other side of the first rod by a pin;
• and
• a fourth rod with both ends rotatably coupled to an other end of the second rod and an other end of the third rod by a pin, respectively, and
• the upper limb connector is coupled to a joint of the third rod and the fourth rod.