While robotics has made significant advances in perception, planning and control in recent decades, the vast majority of tasks easily completed by a human, especially acting in dynamic, unstructured environments, are far from being autonomously performed by a robot. Teleoperation, remotely controlling a slave robot by a human operator, can be a realistic, complementary transition solution that uses the motion intelligence of a human in complex tasks while exploiting the robot’s autonomous reliability and precision in less challenging situations. ewline We introduce DE VITO, a seven degree-of-freedom, dual-arm upper-limb exoskeleton that passively measures the pose of a human arm. DE VITO is a lightweight, simplistic and energy-efficient design with a total material cost of at least an order of magnitude less than previous work. Given the estimated human pose, we implement both joint and Cartesian space kinematic control algorithms and present qualitative experimental results on various complex manipulation tasks teleoperating Robot DE NIRO, a research platform for mobile manipulation, that demonstrate the functionality of DE VITO. We provide the CAD models, open-source code and supplementary videos of DE VITO at http://www.imperial.ac.uk/robot-intelligence/robots/de_vito/.