Spasticity refers to a post-stroke condition characterized by muscle stiffness, which occurs when patients are assisted in stretching their upper extremity muscles, muscle contractions appear against the direction of the passive movement being carried out. One of the rehabilitation technologies for stroke patients is the exoskeleton to present the intensity of therapy repetitions. An exoskeleton with PID control is not good at determining the output according to the rehabilitation procedure, so an additional control method is formed in the form of Fuzzy which determines the exoskeleton's movement target taking input from the torque obtained by the load cell pressure sensor and the position of the encoder. Normal subjects were used for the experiment, also given scenarios resembling the characteristics of stroke patients. The Proportional trials carried out using the KP position parameter in sinusoidal motion, KP 1000 is the ideal KP for a motor with an RMSE result of 0.3 degrees with on a smooth motion, as needed in a rehabilitation. Based on the collected sample data, the average fuzzy accuracy to determinate the suitable output stands at 98.12 percent across all scenarios. Based on this research, enhancement can be achieved by customizing the ideal KP for each subject, considering variations in their height and weight, and adjusting the KP value accordingly, and the resulting trajectory has an error minimum. And testing with stroke patients directly could be the next development.