According to an aspect of the present invention, there is provided an upper extremity exoskeleton assist device including a body part, a pivoting part rotatably connected to the body part in a first direction or a second direction opposite to the first direction, A connecting part connecting the part and the pivoting part to each other to apply an elastic force to the pivoting part when the pivoting part is rotated in the first direction, And a second clutch portion that allows one of the first and second clutch portions to rotate in a direction different from the first clutch portion allowing the rotation of the upper limb of the upper limb. Assist device.
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