Robot manipulators have been extensively used in complex environments to complete diverse tasks. The teleoperation control based on human-like adaptivity in the robot manipulator is a growing and challenging field. This paper developed a disturbanceobserver- based fuzzy control framework for a robot manipulator using an electromyography- (EMG-) driven neuromusculoskeletal (NMS) model. The motion intention (desired torque) was estimated by the EMG-driven NMS model with EMG signals and joint angles from the user. The desired torque was transmitted into the desired velocity for the robot manipulator system through an admittance filter. In the robot manipulator system, a fuzzy logic system, utilizing an integral Lyapunov function, was applied for robot manipulator systems subject to model uncertainties and external disturbances. To compensate for the external disturbances, fuzzy approximation errors, and nonlinear dynamics, a disturbance observer was integrated into the controller. Thedeveloped control algorithm was validated with a 2-DOFs robot manipulator in simulation. Theresults indicate the proposed control framework is effective and crucial for the applications in robot manipulator control.