A force feedback technology-based robot system for active and passive rehabilitation training of upper limbs, which comprises a robot body (2) and active and passive training upper computer systems (3, 4), and which is capable of developing, according to the illness of the patient, the active and passive rehabilitation training of the degrees of freedom of adduction/abduction and front flexion/rear extension of the left shoulder joint and the right shoulder joint and the front flexion/rear extension of the left elbow joint and the right elbow joint of a patient Under a passive rehabilitation training pattern, the upper limbs of the patient are driven by the robot body (2) to move according to a track set an the upper computer, so that basic moving functions of the upper limbs are restored step by step; and under an active rehabilitation training pattern, two hands of the patient grasp the tail end of the robot body (2) to interact with a rehabilitation training scenario, and the patient may feel real and precise force feedback. In addition, real-time training data recording is supported, and scientific and quantitative evaluation of the rehabilitation training effect is implemented, thereby improving the rehabilitation treatment effect.
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