To investigate the fatigue characteristic of upper limbs, this study analyzed RMS(root mean square) and MPF(mean power frequency) value between initial and terminal stages of each experiment condition. And the effect of intermittent endurance time was evaluated using the Borg's CR10 value that was measured for the parts of upper limb. According to the results of ANOVA on RMS value, there were significant difference on the %MVC about push, pull, and down force exertion. Particularly the ANOVA of up force exertion was significant difference on shoulder flexion, elbow flexion and rest time as well as %MVC. The results of ANOVA for MPF value were significant difference on the %MVC in regard of the push and up force exertion. In case of up force exertion, MPF value tended to shift low frequency at all of the experiment conditions. According to the analysis of duty cycle, RMS value considerably increased over 50% duty cycle and as the %MVC increased, the duty cycle affected the increase of RMS value. MPF value for up and down force exertion decreased at 33%, 50% and 67% duty cycle for all of %MVC. Borg CR10 value of hand and forearm were below the 3-point to the 40% of endurance time at 30%MVC and to the 20% of endurance time at 50%MVC with the exception of up force exertion. But Borg CR10 values of upper arm and shoulder at up force exertion were more than 3-point to the 20% of endurance time at 30%MVC and in the start point of endurance time at 50%MVC.