The EXARM exoskeleton is a master device with an ergonomic kinematics structure. It features 16 degrees of freedom. Each joint is measured with angular sensors and the system can follow motions of the right human arm when dressed on. The EXARM allows nearly unconstrained natural motion because its joints do not require alignment with the human arm joints when worn. The EXARM was the first ergonomic exoskeleton prototype and is still used for research on kinematics and mapping strategies for control of a variety of robotic systems. It is simple to use, since no motors for force-feedback are included.