We have been developing exoskeletal robots for human motion support. The exoskeletal robots enable physically weak people such as elderly people to take care of themselves. In this paper, we introduce an effective control method of a 1DOF exoskeletal robot for human elbow motion support. Multiple fuzzy-neuro controllers have been applied to control both the angular position and impedance of the exoskeltal robot system in any elbow angle based on force signals and biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the controller. The proposed system is able to adapt itself to the physiological condition of any human subject because of the adaptation ability of the fuzzy-neuro controllers. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.