Elbow joint, shoulder joint and knee joint rehabilitation device

The invention provides an elbow joint, shoulder joint and knee joint rehabilitation device. The rehabilitation device comprises a back support, a chair, two exoskeleton single-arm parts of the same structure, and exoskeleton lower limb parts of the same structure. The chair is fixed and welded to the lower side of the back support. The two single-arm parts are installed on the two sides of the back support respectively. Two elbow joint traction hydraulic cylinders and two shoulder joint traction hydraulic cylinders are fixedly arranged on the inner side of the back support. Steel wire ropes can be dragged through the traction movement of the hydraulic cylinders. Through the traction of the steel wire ropes, the exoskeleton single-arm parts and the exoskeleton lower limb parts are dragged to rotate. The exoskeleton lower limb parts are fixedly installed on the two sides of the chair. Driving motors are arranged at knee joints of the exoskeleton lower limb parts. The movement of the knee joints of the exoskeleton lower limb parts can be achieved through the rotation of the driving motors. Angle sensors are arranged at elbow joints, shoulder joints and knee joints of the rehabilitation device respectively and used for measuring the angles of the joints. The traction hydraulic cylinders and the knee joint driving motors are controlled by a central control unit to move according to the different measured angle values.