In recent years, the total number of physical therapists is increasing in Japan. However, it is not sufficient for increasing number of patients requiring long-term care. In order to cope with the shortage of manpower, it is desirable to develop the rehabilitation equipment. This paper describes the development of a wearable wrist rehabilitation training device using the parallel link mechanism. It is possible to train the translational and rotational motion of the wrist joint by the adoption of parallel links. In experiments, the palmar flexion, dorsal flexion motions of 9 subjects were trained, and the obtained results were compared with the base training data. The validity of the proposed method was demonstrated.