For radiculopathy and sympathetic type of cervical spondylosis, a wearable powered cervical exoskeleton based on 6-SPS/CS parallel manipulator was designed based on the rehabilitation therapy of cervical traction, flexion/extension, left/right lateral flexion and rotation. Firstly, the exoskeleton manipulator design and cervical motion analysis were designed based on human biomechanics, and the inverse kinematics analysis of the exoskeleton equivalent parallel manipulator was carried out by using the space coordinate transformation equation and the close-loop vector method. Secondly, the ADAMS software was used to perform motion simulation analysis on the exoskeleton equivalent manipulator model, and the time-varying curve of displacement, velocity and acceleration was solved. The simulation curves and theoretical models were compared and analyzed, and the feasibility of rehabilitation range of motion was further verified. Finally, the rehabilitation function of the powered cervical exoskeleton prototype was evaluated and analyzed experimentally. The prototype can achieve the range of motion of -15°~15° on the coronal axis, -20°~20° on the sagittal axis and -15°~15° on the vertical axis, which meet the needs of the human cervical vertebra motion. The results show that the 6-SPS/CS powered cervical exoskeleton can assist the human cervical vertebra in traction, flexion/extension, left/right lateral flexion and left/right axial rotation rehabilitation training, which provides a basis for the subsequent manipulator optimization and clinical application.