This paper describes improvements to the EduExo Pro exoskeleton, emphasizing the introduction of impedance control with a Dynamixel servo motor and a Raspberry Pi. This upgrade enhances the system’s ability to support the development of advanced control algorithms, increasing its usefulness for educational purposes. Initial findings indicate a need for friction compensation due to the high gear reduction in the new motor setup. Nevertheless, the upgrades not only boost the functionality of the EduExo Pro but also extend its educational value, allowing the development of many different control algorithms. Future work will aim to develop a gravity compensation algorithm with the included triple-axis accelerometer to further refine the system’s performance.