Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device

The invention discloses a rocker type upper limb rehabilitation device, which mainly consists of a mechanical portion and a control portion. The mechanical portion mainly comprises a base, a retractable rocker, an outer arc-shaped track and an inner arc-shaped track, the retractable rocker consists of a linear motor, and the outer arc-shaped track and the inner arc-shaped track are connected with a servo motor. The control portion mainly comprises a position sensor, a photoelectric encoder, a movement control card, a display and a computer, and the movement control card controls voltage and current of a servo motor driver and a linear motor driver. The mechanical portion is organically combined with the control portion, the retractable rocker can move in a three-dimensional space along an optional trace, three training modes including a passive training mode, an active training mode and an assisted training mode can be provided for patients losing motion abilities in different degrees, and accordingly the rocker type upper limb rehabilitation device is simple and compact in structure, diversified in training modes and low in cost, is applicable to extensive patients, and has a fine application prospect.