Exoskeleton upper limb rehabilitation device

The invention relates to an exoskeleton upper limb rehabilitation device which comprises a seat and a robot skeleton, the robot skeleton comprises a left arm and a right arm and is installed behind the back of the seat, each arm comprises a handle component, a forearm component, a big arm component and a shoulder component, and rotating joints of the left arm and the right arm and the seat are each provided with a rotating module. The rotating module comprises a driving device, a speed reducer and a torque sensor, and the large arm component, the small arm component and the shoulder component are each provided with a telescopic adjusting mechanism. The mechanical arm is simple and compact in structure, light in weight, free of rigid impact in the actual use process, high in protectiveness, stable and reliable, has the functions of real-time feedback and real-time dynamic adjustment, can adapt to different crowds through adjustment of the telescopic mechanism of the large arm and the small arm, improves applic