We propose a novel scheme for controlling multiple-joint limb movements based on the neuromuscular system, which dictates biological limb movements. The proposed control scheme generates appropriate control signals to bring the limbs to various desired positions under different velocities and loads. A fuzzy system, representing the nervous system of the neuromuscular system, is developed to generate the motor commands, and a local controller, representing the muscle system, is developed to modulate the motor commands via sensory feedback. The control strategy is based on equilibrium point control. Theoretical analyses and simulations are performed to demonstrate the feasibility of the proposed scheme. The success of this scheme may be beneficial for artificial robotic control.