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Rehabilitation based on robot has been important researches field. In this paper, an exoskeleton device for upper limb has been developed, and it includes three active DoFs (Degree of Freedoms) and four passive DoFs. This device is used to assist performance for the impaired upper limb. Hemiplegic patients can move their intact upper limb by manipulating a haptic device (Phantom Premium) and their impaired upper limb can move synchronously, which is driven by the exoskeleton device. Different from general joystick, haptic device not only exert force to patients, but also can detect the movement of upper limb because of its 6 DoFs and enough work range. Therefore, the impaired upper limb can perform following the intact upper limb and patients can perform some rehabilitation by themselves. In this paper we focused on the motion detection of intact limb. Control on exoskeleton device was discussed in previous work. Also this system can be used in remote rehabilitation.