Pinpoint and adjustable reciprocating rehabilitation joint

The invention provides a pinpoint and adjustable reciprocating rehabilitation joint. The rehabilitation joint comprises a terminal flange, a reciprocating driver, a frameless motor, an absolute coder,an incremental encoder and a power shaft, wherein a rotor of the frameless motor is fixedly connected with the power shaft, the incremental encoder is arranged on the outer circumference of one end of the power shaft, the other end of the power shaft is fixedly connected with an input wheel of the reciprocating driver; the input wheel of the reciprocating driver is used for enabling the continuous complete cycle rotating movement to be converted into non-complete cycle reciprocating rotary motion of an output wheel to be transmitted to the terminal flange; the terminal flange adopts the structure that the end surface of the flange and a hollow shaft are in integrated; a cable is arranged in the hollow shaft, and the shaft part of the terminal flange is connected with the absolute coder; and through cooperation wi