There is provided an upper limb rehabilitation robot including: a base frame that has a side to which a connecting support is rotatably laterally connected a connecting shaft unit that is rotatably disposed at a side of the connecting support a link unit that has a side coupled to the connecting shaft unit and the other side with an upper limb connector mounted to enable a person who needs rehabilitation to connect an upper limb an active actuator that rotates a connecting shaft unit and a manual actuator that generates resistant torque against rotation to the connecting shaft unit.
