The development of innovative exoskeletons for the upper limb requires a strong collaboration between robotics and neuroscience. The robotic system will be deeply coupled to the human user and the exoskeleton design should be based on the human model in terms of biomechanics, and control and learning strategies. This paper presents the results of the design process of the NEUROExos exoskeleton. The catching of a moving object has been chosen as reference task from a neuroscience point of view and an ad-hoc setup has been designed and realized. Experiments has been per-formed and the obtained results has been used to design and develop a bioinspired two joints-two links ro-botic arm: the NEURArm platform. It has been developed for implementing bioinspired control strategies and for obtaining a human-like robotic arm to be used for assessing active exoskeletons in fully safe condi-tions. The main features of the NEUROExos elbow module platform and the on going activities related to human/machine interface are presented.

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