Parallel connection type exoskeleton thumb rehabilitation training device

The utility model discloses a parallel connection type exoskeleton thumb rehabilitation training device. A first globe joint linear driving mechanism, a second globe joint linear driving mechanism and a thumb front end driving mechanism respectively comprise a driving device and a retracting device which are mutually connected. First ends of the retracting devices of the first globe joint linear driving mechanism and the second globe joint linear driving mechanism are respectively connected with a thumb exoskeleton connecting piece through globe joints, and second ends of the retracting devices of the first globe joint linear driving mechanism and the second globe joint linear driving mechanism are respectively connected with a first end of the retracting device of the thumb front end driving mechanism through globe joints. A thumb exoskeleton connecting piece is connected with the first end of the retracting device of the thumb front end driving mechanism, and therefore the thumb front end driving mechanism can do motions including curling, stretching, adduction and abduction. A near-end knuckle exoskeleton of the thumb exoskeleton is hinged with the first end of the retracting device of the thumb front end driving mechanism, the thumb exoskeleton is connected with a second end of the retracting device of the thumb front end driving mechanism through a connecting rod, and therefore the thumb exoskeleton can do motions of curling and stretching.