We are developing exoskeleton robots to realize human shoulder motion assistance for the physically weak. In this paper, we propose controller adjustment for the controller of the exoskeleton robot for human shoulder motion assistance. Motion assistance in the entire movable range of the exoskeleton is realized with a few teaching motion patterns using the proposed controller adjustment. Muscle activity (electromyography) during shoulder motion and motion error between desired user shoulder motion and the measured assisted shoulder motion are evaluated.

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