Stroke is a significant affliction that can affect people with varying degrees of severity. One of the most common consequences of stroke is the impairment of the muscular motor function to some degree with two-thirds of the patients being affected by upper-limb paralysis. For those cases, the most effective forms of regaining muscular motor function are through rehabilitation therapy, traditionally this must be done in a clinical environment. Developments in robotics, batteries and electronics have made accessible the prototyping, production, and utilization of exoskeleton type devices technically adapted for personal and residential rehabilitation. This paper presents and discusses the results of EMG signals from upper limb of brachial biceps muscle, obtained from a cohort of healthy volunteers. The methodology for testing is presented and explained, additionally, a preliminary discussion is made on the obtained data. Some control considerations, variables and methods are also presented and discussed.