Abstract: Application of exoskeletons is expected to relieve the enormous pressure on Chinese rehabilitation medical resources. The key to the application of rehabilitation exoskeletons is to ensure that the rehabilitation experience is safe, effective and comfortable, and intelligent control technology is an effective means of responding to these needs. Based on the hierarchical structure of the intelligent control system, this paper summarizes the research status of controllers at all levels in the intelligent control system of the upper limb rehabilitation exoskeleton in recent years. It mainly includes motion intention recognition in the upper controller, motion trajectory planning in the middle controller, and actuator control in the bottom controller. Finally, the existing problems and the development trends of the upper limb exoskeleton control systems are presented.