A wearable robotic system assists a wearer in performing manual tasks. One or more robotic arms are mounted to a wearer, and an sensor monitors the orientation(s) (e.g., position and movement) of the wearer's upper body and one or both arms. A controller detects a task being performed by the wearer based on the orientation(s) as indicated by the orientation sensors. In response, the controller causes the robotic arm to perform an action independent of the orientation(s) of the wearer's arms and complementary to the task, thereby aiding the wearer to accomplish the detected task.