A portable two degrees of freedom robot wrist rehabilitation

The present invention discloses a portable two degrees of freedom robot wrist rehabilitation, including worn on the outside of the human forearm arm frame, worn on the back shelf at the back of the body, and two degrees of freedom drive mechanism connecting the two; two degrees of freedom drive mechanism includes a slide mechanism, pneumatic muscle mechanism, a rotary joint, active link, connecting rod driven by the driving force of muscle control pneumatic rotary joint so that the active link, driven rod driven back frame to achieve wrist flexion rehabilitation ; two degrees of freedom drive mechanism further comprises a center column, curved rack, cylindrical gears, rails fixed to the outside of the back frame, driven by a motor to rotate the circular gear drive to realize the back frame rocking motion of the wrist. Joint rehabilitation robot according to the present invention, it can be conducive to portable and home-based, joint control of the rotation angle played a gain of the amplifying role.