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The upper limb rehabilitation robot is used for rehabilitation training and evaluation of upper limb function in stroke patients. The device covers the training content of patients at various stages from acute phase to rehabilitation phase. The device has three modes: active, passive, and resistance. Patients with early upper limb weakness can use passive mode for rehabilitation training under the guidance of robots. After muscle strength recovery during the rehabilitation period, active or resistance mode can be used to strengthen training. The device also has various upper limb function evaluation scales, which facilitate doctors and patients to understand the rehabilitation situation.