the present invention relates to a wearable robot system for rehabilitation training of the upper limbs that has an improved structure to reproduce in detail motion of a human body by selecting a wearing type structure such that robot links move correspondingly to the motion of the upper limbs while decreasing the volume of a rehabilitation and assistance device based on a robot for rehabilitation training of the upper limbs . according the present invention , it is possible to decrease the volume and increase the available space , in addition to creating smooth motion without interfering with the human body by creating a plurality of robot motion paths and selecting the best path from them , because an operation of four degrees of freedom can be achieved by an operation procedure using redundant .