Full-scale chain upper limb rehabilitation exoskeleton with matrix sensor

The invention discloses a full-scale chain upper limb rehabilitation exoskeleton with a matrix sensor, which comprises a movable base, a three-axis moving platform, a back reversing mechanism, a shoulder three-axis mechanism, a telescopic big arm mechanism, a big arm sleeve, a telescopic small arm mechanism, a small arm sleeve and a wrist three-axis mechanism, the back reversing mechanism is arranged on the three-axis moving platform, the shoulder three-axis mechanism is arranged on the back reversing mechanism, the telescopic large arm mechanism is arranged at the tail end of the shoulder three-axis mechanism, the large arm sleeve and the telescopic small arm mechanism are both arranged on the telescopic large arm mechanism, and the telescopic small arm mechanism is arranged on the large arm sleeve. And the forearm oversleeve and the wrist three-axis mechanism are arranged on the telescopic forearm mechanism. The problem that the robot collides with the shoulder through the rotator cuff during exoskeleton re