An upper limb rehabilitation training machine includes a hand support for supporting an upper limb and a movable plate. The hand support is arranged on the movable plate, and the hand support is slidable on the movable plate. When the upper limb rehabilitation training machine is used, an upper limb moves on the movable plate by the driving of the hand support, and meanwhile a user rotates correspondingly with the upper limb during the operation. An exercise path may be realized by presetting a path, or by an active rotation of the user, the exercise mode and training action are various, thus increasing the user's interest in using the machine and solving the problem that the upper limb rehabilitation training machine is inflexible and has a single exercise mode in use.