Due to the coming of aging society and lack of medical resource, exoskeleton robot becomes a major topic for robotic researchers. The object of thesis is to come up with an intelligent control system for upper-limb portable wearable exoskeleton robot developed in our laboratory, named as HAMEXO-I. HAMEXO-I has two active degree of freedoms and two motors on shoulder and elbow joints. It can be used in daily life and medical rehabilitation. We propose an intelligent controller that can promote the capability of the current controller. We also develop straight and curve path planning for the exoskeleton robot. In addition to the controller, we also propose gravity compensation to deal with the influence of gravity. Experiments are conducted to demonstrate system performance.