This research outlines the various stages involved in constructing Computer-Aided Design (CAD) simulation models using the combined environments of SolidWorks and Matlab/Simulink. The study specifically focuses on developing an exoskeleton model designed for rehabilitation purposes, coupled with a human upper limb model. These simulation models are essential for visualizing the system’s ability to track desired trajectories during movement, providing a virtual testbed for evaluating control strategies and mechanical behavior. The first part of the research is dedicated to the design and analysis of the exoskeleton-upper limb system’s CAD model. This stage involved creating a detailed 3D mechanical representation of the exoskeleton and human arm in SolidWorks, where joint configurations, mechanical constraints, and movement capabilities were defined. The next phase of the research focused on extracting the Electromyography (EMG) signals generated during elbow flexion and extension movements. To control the exoskeleton-upper limb system, a Model-Free Adaptive Terminal Sliding Mode Controller with Gravity Compensation was implemented. This advanced control algorithm was chosen for its robustness in handling the complex, nonlinear dynamics of the exoskeleton interacted with the human. The effectiveness and performance of both the models and the control algorithm were validated through simulation results.