The present invention relates to an upper extremity rehabilitation robot control method for meal assistance capable of assisting a meal for the elderly and patients for rehabilitation whose physical strength of an upper extremity is less than a normal person. More specifically, the upper extremity rehabilitation robot control method for meal assistance comprises a step of detecting the movement of an upper extremity of a user by a detection member after a dish is disposed at a predetermined position, and the upper extremity of the user is mounted at an arm end of an articulated robot； a step of calculating the direction where the upper extremity wants to go and the power by the detected movement in the detection member； a step of generating and outputting control signals to be output to the articulated robot based on a calculated value； and a step of assisting the upper extremity of the user with the power in the direction where the upper extremity wants to go and moving the upper extremity by driving the arm of the articulated robot based on the output control signals. [Reference numerals] (AA) Start； (BB) End； (S100) Detect the minute movement of an upper extremity by a detection member； (S200) Calculate the direction where the upper extremity wants to go and the power by the detected minute movement； (S310) Compare a calculated value relative to the power and a reference value of the power previously inputted； (S320) Output control signals by converting any one of magnetic polarity among the detection member and an articulated robot if the calculated value is greater than or equal to the reference value； (S400) Generate each control signal of X-axis, Y-axis, and Z-axis to be outputted to the articulated robot based on the calculated value and output the same； (S500) Selectively drive arms of the articulated robot on the line of the X-axis, Y-axis, and Z-axis based on the each control signal of the outputted X-axis, Y-axis, and Z-axis본 발명은 상지의 근력이 정상인보다 떨어지는 노약자 및
