Electroencephalogram (EEG) signals based brain-computer interfacing (BCI) is the current technology trends in the field of rehabilitation robotic. This study compared the performance of support vector machine (SVM), linear discriminant analysis (LDA) and multi-layer perceptron (MLP) classifier with the combination of eight different features as a feature vector. EEG data were acquired from 20 healthy human subjects with predefined protocols. After the EEG signals acquisition, it was pre-processed followed by feature extraction and classification by using SVM MLP and LDA classifiers. The results exhibited that the SVM method was the best approach with 98.8% classification accuracy followed by MLP classifier. Finally, the SVM classifier and Arduino Mega controller was employed for offline controlling of the gripper of the robotic arm prototype. The finding of this study may be useful for online controlling as well as multi-degree of freedom with multi-class EEG dataset.