The invention discloses a soft wearable robot for elbow movement function rehabilitation. The soft wearable robot comprises a soft wearable robot body assembly, an air cylinder, an electromagnetic proportional valve and a controller; the soft wearable robot body assembly is composed of an outer elbow sleeve, an inner elbow sleeve, a flexible bending sensor and a soft actuator assembly; and the soft actuator assembly comprises a flexible pipe, a first end sealing piece, a second end sealing piece, an air guide pipe, a woven mesh sleeve, a first end fastening piece, a second end fastening piece, a first limiting layer, a second limiting layer, a joint extension layer and a third limiting layer. The three limiting layers form a limiting structure with the elasticity modulus gradually changed on the two sides, so that the motion characteristic of the soft actuator assembly conforms to the motion characteristic of the elbow of the human body, tangential sliding between the soft actuator assembly and the skin of the elbow joint of the human body is relieved, and auxiliary force distribution is more uniform; and the joint extension layer of the soft body actuator assembly has certain axial ductility, so that the discomfort of a user is reduced.