A wearable apparatus for measuring position and action of an arm includes: a main frame worn on an upper body of a user and an arm motion-measuring unit connected to a side of the main frame, having a plurality of joints, and worn on an arm of a user, in which at least any one of the joints of the arm motion-measuring unit has a straight-motional degree of freedom. Accordingly, an instructor can conveniently move both arms in the apparatus, can precisely instruct a two-arm robot in motions of the instructors arms, can reduce learning time of the robot, and can make the robot quickly and accurately learn the motions.
