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We suggest a human-robot interfacing method of a wearable robot for assistive human upper extremities. It connects the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F (extension/flexion), the shoulder E/F, and the shoulder Ab/Ad(abduction/adduction). We generated the command signal using the human-robot interfacing method so that a user would be able to operate the wearable robot of 6-DOF. And, we performed subsequent capability and force assistance experiments for performance verification of the proposed this method.