This dataset contains physical, physiological and subjective measurements of humans performing a manual task with and without the assistance of an upper-limb exoskeleton. 12 participants took part in an in-lab experiment in which they performed an overhead pointing task in two different conditions: while wearing the PAEXO passive exoskeleton for arm support developed by Ottobock SE & Co. KGaA, and while not wearing the exoskeleton. Participants' whole-body kinematics, ground reaction force, shoulder and back muscle activity, oxygen consumption and heart rate were recorded. The Nasa Task Load Index was used to assess the perceived workload. After the experiment, participants answered a technology acceptance questionnaire and were interviewed to evaluate their opinion of the exoskeleton. All data files are provided in proprietary format (when existing), in standard motion analysis format, and in matlab and csv format. Videos of a human avatar replaying participants' motions are also provided. A detailed description of how the data were collected is available in the paper associated with the dataset: "Objective and Subjective Effects of a Passive Exoskeleton on Overhead Work" (Maurice et al., IEEE Trans. Neural Systems and Rehabilitation Engineering, in press) https://hal.archives-ouvertes.fr/hal-02301922/document