For supporting daily activities of elderly and physically disabled people who have lost their body functioning of motions, we have developed a 7-DOF robotic exoskeleton system. It is intended to assist the motions of shoulder and elbow by mounting this on a wheel chair since human shoulder and elbow motions are involved in a lot of activities of everyday life. The proposed mechanism can maximize workspace while escaping singularity by combining the parallel mechanism at the wrist part. Admittance based velocity control scheme enables a variety of tasks to be implemented and allows us to achieve fast enough motion with acceptable accuracy. Preliminary results for mechanism analysis, trajectory tracking experiment are shown.

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