Wearable type rehabilitation training exoskeleton manipulator

The invention relates to a wearable type rehabilitation training exoskeleton manipulator. The wearable type rehabilitation training exoskeleton manipulator comprises a four finger rehabilitation mechanism and a thumb rehabilitation mechanism, wherein the four finger rehabilitation mechanism comprises a far finger support rod and a near finger support rod, and the far finger support rod and the near finger support rod are hinged, and are connected through a first connecting rod mechanism; the first connecting rod mechanism is connected with a force transfer slide block on a hand support, the force transfer slide block is glidingly arranged on the hand support, and a driving mechanism is used for driving the force transfer slide block to move on the hand support, and linking the far finger support rod and the near finger support rod to swing; the thumb rehabilitation mechanism comprises a thumb far end support rod and a thumb near end support rod, the thumb far end support rod and the thumb near end support rod are hinged, and are connected by a second connecting rod mechanism, the second connecting rod mechanism is connected with the driving mechanism, and the driving mechanism is used for driving the thumb far end support rod and the thumb near end support rod to swing; the four finger rehabilitation mechanism and the thumb rehabilitation mechanism can be used for simulating the swinging of four fingers and thumb in the space, so as to further ensure the rehabilitation effect of the four fingers and thumb. The wearable type rehabilitation training exoskeleton manipulator has excellent popularizing value in the rehabilitation field.