## 1 Introduction
The exoskeleton rehabilitation robot solves the problem of controlling the motion amplitude and moment of each joint of human body in the process of rehabilitation training, and overcomes the disadvantage that the end guided rehabilitation robot can only perform simple rehabilitation training (linear motion or circular motion) with small motion amplitude. Currently it is a relatively safe and efficient rehabilitation robot structure. However, in the design of exoskeleton prostheses, the matching of mechanical joint motion axis and human joint motion axis is very important. The exoskeleton produces unexpected forces at the patient's joint under mismatched condition, which not only causes joint pain and injury to the patient, but also limits the movement space of the patient's limbs, and reduces the effect of rehabilitation training. Therefore, the axis of each pair of motion is matched with the rotation center of each joint of the human body as far as possible in the design of exoskeleton rehabilitation apparatus. The motion of each joint of exoskeleton rehabilitation device is realized mainly by rotating or moving the pair, and good results have been obtained [23; 24]. Compared with the artificial rehabilitation treatment, the rehabilitation robot system has the advantages of high training accuracy, easy to quantify the amount of exercise, and long-term one-to-one scientific rehabilitation treatment for patients. To satisfy the rehabilitation needs of patients with limb disorders, a wearable upper limb rehabilitation robot is designed and developed in this article, which is mainly a device for mid-term semi-active rehabilitation training and post-active rehabilitation training for stroke patients. Owing to understanding the disadvantages of traditional rehabilitation training and the performances of rehabilitation robots, combined with the human upper limb muscle anatomy characteristic and relevant parameters, we determine the arm movement of each joint angle range from all the bones and joints of upper limb movement characteristics, this paper proposes a design scheme of the tensegrity structure wearable upper limbs rehabilitation robot. The wearable upper limb rehabilitation robot is utilized to the exercise rehabilitation treatment of hemiplegic limb to maintain the range of motion of the limb, prevent the muscle atrophy of the limb, enhance the muscle strength of the limb, and promote the recovery of the limb function. Therefore, it can provide an effective rehabilitation equipment for patients with hemiplegia of upper limb caused by stroke. In this paper, due to the study of anatomy, motion mechanism and motion range of human upper limb, the motion angle range of each joint is determined for human arm, and the mechanical mechanism on each degree of freedom is designed for wearable upper limb rehabilitation robot. First, to establish the spatial pose relationship between each motion component and the end-effector of the wearable upper limb rehabilitation robot, the motion model is established with the Denavit-Hartenberg (D-H) parameter method and the motion space is analyzed for wearable upper limb rehabilitation robot. The kinematics analysis is used to analyze the motion of the wearable upper limb rehabilitation robot. Secondly, to verify whether the wearable upper limb rehabilitation robot can realize the auxiliary upper limb functional rehabilitation training, the working space is analyzed for the wearable upper limb rehabilitation robot. Thirdly, to analyze the output torque of wearable upper limb rehabilitation robot, the dynamic simulation of the robot is carried out. Lastly, the control system of wearable upper limb rehabilitation robot is designed, which obtained the tracking results of robot rehabilitation training. It further verifies that the rationality of the design of wearable upper limb rehabilitation robot.