Wearable upper limb motion rehabilitation training exoskeleton with seven degrees of freedom

The utility model discloses a wearable upper limb motion rehabilitation training exoskeleton with seven degrees of freedom, which comprises a support rod and an exoskeleton training device. The support rod is fixed onto a base, seven rotary joints including a shoulder adduction/abduction joint, a shoulder flexion/stretching joint, a shoulder inward/outward rotary joint, an elbow flexion/stretching joint, an elbow inward/outward rotary joint, a wrist adduction/abduction joint and a wrist flexion/stretching joint are serially connected to form the exoskeleton training device, the joints are directly driven by a motor, and primary spur gear trains are added to the shoulder rotary joint and the elbow rotary joint. The wearable upper limb motion rehabilitation training exoskeleton is simple in structure and fast in response speed. Compared with the prior art, the wearable limb motion rehabilitation training exoskeleton has more motional degrees of freedom, and can adapt to standing posture training and sitting posture training. The length of an exoskeleton rod can be adjusted according to figures of patients, and wearing comfortableness is guaranteed. The joints are limit structures, and safety is improved. Force and torque sensors arranged at the joints acquire kinematic and dynamic data of the joints at real time to bring convenience for physiotherapists for follow-up analysis and development of training program, and optimal rehabilitation effect is achieved.