The exoskeletal robots are expected to support the daily
activities ofphysically weak persons such as elderly persons
or handicappedpersons in these days. In ourprevious
research, the exoskeletal robots for elbow or shoulder
motion support have been developed since the elbow
and shoulder motion is especially important for
people to perform tasks in everyday life. In this papel;
we present a mechanism of the moving center of rotation
of the shoulder joint of the exoskeletal robot for
human shoulder motion support in order tojit the center
of rotation of the robot shoulder joint to that of the
physiological human shoulder joint during the shoulder
motion. The effectiveness of the proposed mechanism
of the robot has been evaluated by experiment