movement according to the movement of a muscle of the upper arm a 1 for moving the shoulder joint in a three directional movement of x y z and then outputs a motion intent signal to the control unit 550 in the shoulder joint herein the force x is force that is input in internal external rotation and the force z is force that is input in extension flexion since the maximum rotational angle of the shoulder joint is 145 u00b0 it is preferable to set a limit angle to 120 u00b0 or less for a safe operation further because the allowable range of the shoulder joint of the human body is 0 to 180 u00b0 for flexion 0 to 50 u00b0 for extension 0 to 180 u00b0 for abduction 180 to 0 u00b0 for adduction 0 to 90 u00b0 for internal rotation and 90 to 0 u00b0 for external rotation it is preferable to limit the angle of the first second third and fourth shoulder joint driving units 310 320 330 340 within the ranges the attaching means are disposed apart from each other at a side of the robot unit 300 in a plurality of string shapes and composed of binding bands 400 of which both ends are attachable detachable by velcro tapes the operation having the above configuration of the present invention is described hereafter the wearable robot system for rehabilitation training of the upper limbs according to the present invention moves up down the elevation bed 210 of the station unit 200 such that the robot.