| 摘要 |
PURPOSE: A robot for rehabilitation training of upper limbs and a parallel link mechanism therefor are provided to unfold finger joints without slipping due to a folding and unfolding motion structure. CONSTITUTION: A robot for rehabilitation training of upper limbs comprises an arm back part(4), a hand pack part(3), a proximal phalanx part(2), a distal phalangeal part(1), first, second, and third connection links(L1,L2,L3), and an actuator(A1). The hand back part is rotatably coupled to the arm back part. The proximal phalanx part is rotatably coupled to the hand back part. The first connection link connects one spot of the distal phalangeal part and the proximal phalanx part. The second connection link connects the first connection link and the hand back part. The third connection link connects the other spot of the distal phalangeal part and the second connection link which is connected to the hand back part. The actuator pulls the proximal phalanx part.
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