A kind of interactive upper limb rehabilitation mechanical arm device of tool, includes a mechanical arm unit, a driving unit and a control unit. The mechanical arm unit includes a shoulder joint mould group, an elbow joint mould group and a wrist joint mould group. The control unit includes the driving mould group of a human-machine operation mould group, the interface transmission mould group of an electrical connection what human-machine operation mould group and electrical connection the what interface transmission mould group and the driving unit. Wherein, which can input several motion profile formulas, drive the driving unit to control the driving mould group, and then manipulate the shoulder joint mould group, the elbow joint mould group and wrist joint Mo Zu and operated respectively according to the grade motion profiles. Thereby, it allows the traction through the mechanical arm unit that the upper limb of user can be convenient and carries out rehabilitation movement.一種具互動式上肢復健用機械手臂裝置，包含一機械手臂單元、一驅動單元，及一控制單元。該機械手臂單元包括一肩關節模組、一肘關節模組，及一腕關節模組。該控制單元包括一人機操作模組、一電連接於該人機操作模組的介面傳輸模組，及一電連接於該介面傳輸模組與該驅動單元的驅動模組。其中，該人機操作模組可輸入數種運動軌跡程式，以控制該驅動模組驅動該驅動單元，進而操控該肩關節模組、該肘關節模組，及該腕關節模組分別依該等運動軌跡進行運作。藉此，讓使用者的上肢可以方便的透過該機械手臂單元的牽引而進行復健動作。
