We have been developing exoskeleton systems to assist the motion of physically weak NOU US such as elderly, disabled, and injured persons. The proposed exoske-letons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals eontaln very important information, however, it is not very easy to predict the user’s upper-limb motion (elbow and shoulder motion) based on the EMG signals In real-time because of the dimculty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for hu-man upper-limb motion assist considerlug the effect of blarticular muscles.

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