In this paper, we proposed a control method to implement the upper-limb active training which is performed with the proposed exoskeleton device. It provides a wide approach for Human Machine Interface (HMI) in which the device is of high inertia, high friction and non-backdrivabi-lity and it is difficult to obtain the contact force between human and the device directly. The main idea of this method is to measure the motion of human body rather than the motion of device. This method is more suitable to the HMI in which the contact between human and device can be assumed as a spring-damper model. According to two kinds of experiments designed, different contact resistance was exerted to the forearm of the user. The sEMG signals detected from biceps brachii and triceps brachii were processed and the two kinds of resistance exerted to humanforearm were confirmed.

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