ArmLine upper limb three-dimensional rehabilitation training system is based on an innovative spatial dynamic structure design, which can realize multi-joint compound movements of the upper limbs in three-dimensional space. It combines passive, assisted, active and resistance training modes, and is suitable for patients at different stages of rehabilitation. It can effectively improve joint mobility, relieve muscle spasms and joint contractures, enhance muscle strength, and improve motor control ability. ArmLine has a built-in professional task-oriented scenario interaction system that can provide multi-dimensional task guidance and real-time training information feedback. While enhancing the patient's motor function, it also improves cognitive ability and helps patients return to their families and society as soon as possible.