An upper limb rehabilitation device includes a base, a rotation shaft unit pivoted to the base and provided with a first shaft portion and a second shaft portion, a rotary actuator disposed on the base and has an actuating portion dynamically connecting to the first shaft portion, a braking unit having an outer braking pipe disposed on a rotation shaft and an inner braking pipe removably disposed in the outer braking pipe, a linear displacement unit having a linear base pivoted to the second shaft portion and a linear platform removably disposed on the linear base, a gripping module assembled to the linear platform, and a first linking rod and a second linking rod pivotally disposed between the inner braking pipe and the linear base.本發明係為一種上肢復健設備,包含:一基座;一轉軸單元,樞設在該基座,並具有一第一軸部及一第二軸部;一旋轉驅動器,設置在該基座並具有一動力連接該第一軸部的驅動部;一制動單元,具有一設置在該轉軸的制動外管、及一能夠位移地設在該制動外管內的制動內管;一線性位移單元,具有一樞設在該第二軸部的線性底座、及一能夠線性位移地設在該線性底座的線性平台;一手部握持模組,組設在該線性平台;一樞設在該制動內管與線性底座之間的第一、二連桿。藉以達到降低製作成本,提升產品競爭力,以及適用各種的復健模式的目的。20‧‧‧基座21‧‧‧短管22‧‧‧長管30‧‧‧轉軸單元31‧‧‧第一軸部32‧‧‧第二軸部33‧‧‧樞座34‧‧‧轉軸35‧‧‧轉軸延伸部40‧‧‧旋轉驅動器50‧‧‧制動單元51‧‧‧制動外管521‧‧‧制動連接部60‧‧‧線性位移單元61‧‧‧線性底座62‧‧‧線性平台70‧‧‧手部握持模組71‧‧‧握持座72‧‧‧握持手把74‧‧‧感測模組81‧‧‧第一連桿811‧‧‧第一桿部812‧‧‧第二桿部82‧‧‧第二連桿821‧‧‧第三桿部
