Wisebot® X5, a three-dimensional upper limb rehabilitation robot， is an intelligent rehabilitation training system for patients with upper limb motor dysfunction. It provides active, passive, and active-passive training modes and mirrors training modes, achieving synchronous training of bilateral coordination. X5 provides a diversified 3D task-oriented training program that improves upper limb control, muscle strength, joint mobility, and other motor functions, while also achieving training in daily life abilities and different abilities.