Position adjustable autonomous arm rehabilitation training device

The invention discloses a position adjustable autonomous arm rehabilitation training device which comprises a bracket and a rehabilitation training instrument, wherein the rehabilitation training instrument comprises a base, an arm fixing plate, a bending driving mechanism for driving the arm fixing plate to conduct bending and straightening movement, a rotating driving mechanism for driving the arm fixing plate to conduct reciprocating rotation, an autonomous force measuring mechanism and a control system; the bracket and the rehabilitation training instrument are connected through a universal connecting structure; the autonomous force measuring mechanism comprises an arm fixing band, photoelectric sensors, a sensing chip, springs and a guiding mechanism. The arm rehabilitation mechanism can be coordinated with the initiative training of a patient, and can determine the assistance degree to the patient according to the initiative participation degree of the patient, so as to fully play the initiative of the