A shoulder joint rehabilitation assistive device has an exoskeleton base, an actuating mechanism, a spherical mechanism, and an upper limb connecting mechanism. The actuating mechanism is mounted on the exoskeleton base. The actuating mechanism has a yaw spring actuating assembly and a pitch spring actuating assembly. The spherical mechanism has a linking rod, a spherical yaw linking assembly, and a spherical pitch linking assembly. The linking rod is pivotally mounted on an arm of the exoskeleton base. The spherical yaw linking assembly is series connected with a first spring actuating portion of the yaw spring actuating assembly and the linking rod. The spherical pitch linking assembly is series connected with a second spring actuating portion of the pitch spring actuating assembly and the linking rod. The structure of the shoulder joint rehabilitation assistive device is simplified with good portability. When the shoulder joint rehabilitation assistive device is worn by a user, the shoulder joint rehabilitation assistive device may provide passive and active motion assistance. Congeniality between the shoulder joint rehabilitation assistive device and the user is increased.一種肩關節復健輔具，其包含外甲基座、致動機構、球形並聯機構以及上肢連接機構，致動機構裝設於外甲基座上，且致動機構包含有展縮彈性致動組件以及旋轉彈性致動組件，球形並聯機構包含連動桿、球形展縮連桿組及球形旋轉連桿組，連動桿樞接外甲基座的支臂，球形展縮連桿組串聯展縮彈性致動組件的第一彈性作動部與連動桿，球形旋轉連桿組串聯旋轉彈性致動組件的第二彈性作動部與連動桿，上肢連接機構連接該球形展縮連桿組與連動桿。藉此精簡化之構造創作，具備良好的可攜性，且使用者穿載使用時，能提供主動驅動與被動驅動之功能，增進人機間的親和性。
