In order to assist physically disabled, injured, and/or elderly persons, we have been
developing exoskeleton robots for assisting upper-limb motion, since upper-limb motion is
involved in a lot of activities of everyday life. This paper proposes a mechanism and control
method of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical
and horizontal flexion/extension, and elbow flexion/extension motion assist). The
exoskeleton robot is mainly controlled by the skin surface electromyogram (EMG) signals …