End-effector　type　upper　limb　rehabilitation　robots　(ULRRs)　are　connected　to　patients　at　one　distal　point,　making　them　have　simple　structures　and　less　complex　control　algorithms,　and　they　can　avoid　abnormal　motion　and　posture　of　the　target　anatomical　joints　and　specific　muscles.　Given　that　the　end-effector　type　ULRR　focuses　more　on　the　rehabilitation　of　the　combined　motion　of　upper　limb　chain,　assisting　the　patient　to　perform　collaborative　tasks,　and　its　intervention　has　some　advantages　than　the　exoskeleton　type　ULRR,　we　developed　a　novel　three-degree-of-freedom　(DOF)　end-effector　type　ULRR.　The　advantage　of　the　mechanical　design　is　that　the　designed　end-effector　type　ULRR　can　achieve　three　DOFs　by　using　a　four-bar　mechanism　and　a　lifting　mechanism;　we　also　developed　the　patient-specific　exercises　including　patient-passive　exercise　and　patient-cooperative　exercise,　and　the　advantage　of　the　developed　patient-cooperative　exercise　is　that　we　simplified　the　human-robot　coupling　system　model　into　a　single　spring　system　instead　of　the　mass-spring-damp　system,　which　efficiently　improved　the　response　speed　of　the　control　system.　In　terms　of　the　organization　structure　of　the　work,　we　introduced　the　end-effector　type　ULRR＇s　mechanical　design,　control　system,　inverse　solution　of　positions,　patient-passive　exercise　based　on　the　inverse　solution　of　positions　and　the　linear　position　interpolation　of　servo　drives,　and　patient-cooperative　exercise　based　on　the　spring　model,　in　sequence.　Experiments　with　three　healthy　subjects　have　been　conducted,　with　results　showing　good　trajectory　tracking　performance　in　patient-passive　exercise　and　showing　effective,　flexible,　and　good　real-time　interactive　performance　in　patient-cooperative　exercise.