Wrist　impairments　caused　by　stroke　or　long-term　immobilization　should　be　given　more　attention　than　the　rehabilitation　of　proximal　limb　segments.　In　addition,　the　physiological　effect　of　wrist　exoskeletons　on　the　training　lacks　sufficient　research.　According　to　the　design　requirements,　a　novel　parallel　wrist　rehabilitation　robot　(PWRR)　with　two　electric　linear　actuators　and　a　passive　prismatic　joint　was　developed　to　achieve　the　training　of　the　flexion/extension　(F/E)　and　radial/ulnar　deviation　(R/U).　The　constraint　forces　caused　by　the　axis　misalignment　were　significantly　reduced　under　the　passive　and　active　training　by　0.75　+/-　0.22　N　and　2.50　+/-　0.72　N,　respectively.　The　total　work　of　the　active　training　increased　with　the　velocity,　whereas　it　was　much　smaller　and　had　no　obvious　linear　relationship　with　the　velocity　for　the　passive　training.　The　sequence　and　degree　of　muscular　activation　of　targeted　muscles　were　measured　and　analyzed　at　three　velocities　to　reveal　the　effects　of　the　training　mode　and　velocity　on　the　physiological　effects.　PWRR　could　achieve　the　isometric　training　of　wrist　muscles　at　any　angle　of　F/E　and　R/U　validated　by　the　comparative　experiments　of　this　device　and　weights.　At　each　interactive　force,　the　median　frequency　(MNF)　of　the　EMG　power　spectrum　and　the　average　rectified　value　(ARV)　of　its　amplitude　decreased　with　increasing　training　time.　The　MNF　slope　increased　with　interactive　thresholds,　where　the　maximum　slope　was　(-29.5　+/-　2.42)　x10(-3)%/s　at　15　N.　Conversely,　the　ARV　slope　gradually　decreased　with　the　thresholds,　where　the　maximum　slope　was　(-61.0　+/-　8.55)　x100(-3)%/s　at　5　N.