A wearable upper limb rehabilitation training robot with precise force control includes a wearable belt, a multi-degree-of-freedom robot arm, and a control box. The robot is worn on the waist of a person by using a belt, and driven by active actuators, to implement active and passive rehabilitation training in such degrees of freedom as adduction/abduction/anteflexion/extension of left and right shoulder joints and anteflexion/extension of left and right elbow joints. In addition, a force/torque sensor is mounted on a tip of the robot arm, to obtain a force between the tip of the robot arm and the human hand during rehabilitation training as a feedback signal, to adjust an operating state of the robot, thereby realizing the precise force control during the rehabilitation training.