Passive exoskeleton robot assisted by shoulder joint

The invention provides a passive exoskeleton robot assisted by a shoulder joint. The passive exoskeleton robot comprises a back plate, a waist plate, a back rod assembly, arm assemblies and power-assisted joint assemblies, wherein the back plate and the waist plate provide ergonomic support for the back and the waist of a wearer, the back rod assembly is used for connecting the back plate and thewaist plate, and the back rod assembly, the back plate and the waist plate jointly form a bionic spine mechanism based on human engineering, the arm assemblies are fixed to the rear portion of the back plate and comprise at least one unilateral-arm assemblies used for supporting the power-assisted joint assemblies and effectively transmitting arm loads to the back, the power-assisted joint assemblies are connected with the tail end of the arm assemblies in an embracing mode, and auxiliary torque used for gravity compensation is generated to support the arm load of the wearer. According to thepassive exoskeleton robot,