Context. The Upper-Scorpius association (5-11 Myr) contains a unique population of low-mass (M ≤ 30 M Jup ) brown-dwarfs either free-floating, forming wide pairs, or on wide-orbits to solar-type and massive stars. The detailed relative characterization of their physical properties (mass, radius, temperature, composition, ongoing accretion) offers the opportunity to potentially explore their origin and their mechanisms of formation. Aims. In this study, we aim at characterizing the chemical and physical properties of three young, late-M brown-dwarfs claimed to be companions of the Upper-Scorpius stars USco 161031.9-16191305, HIP 77900, and HIP 78530 using medium resolution spectroscopy at UV (0.30 − 0.56 µm; R λ ∼ 3300), optical (0.55 − 1.02 µm; R λ ∼ 5400), and near-infrared (1.02 − 2.48 µm; R λ ∼ 4300) wavelengths. The spectra of six free-floating analogues from the same association are analyzed for comparison and to explore the potential physical differences between these substellar objects found in different configurations. We also aim at looking and analyzing hydrogen emission lines at UV and optical wavelengths to investigate the presence of ongoing accretion processes. Methods. The X-Shooter spectrograph at VLT was used to obtain the spectra of the nine young brown dwarfs over the 0.3 − 2.5 µm range simultaneously. Performing a forward modelling of the observed spectra with the ForMoSA code, we infer the T eff , log(g), and radius of our objects. The code compares here the BT-SETTL15 models to the observed spectra using the Nested Sampling Bayesian inference method. Mass is determined in using evolutionary models and a new analysis of the physical association is proposed in using the Gaia-DR2 astrometry.Results. The T eff and log(g) determined for our companions are compatible with those found for free floating analogues of the Upper-Scorpius association and with evolutionary-model predictions at the age of the association. However the final accuracy on the T eff estimates is strongly limited by non-reproducibilities of the BT-SETTL15 models in the range of T eff corresponding to the M8-M9 spectral types. We identified H α , H β , H γ , and Ca II H & K emission lines in the spectrum of several objects. We attribute these lines to chromospheric activity except for the free-floating object USco 1608-2315 for which they are indicative of active accretion (Ṁ ≤ 10 −10.76 M /year). We confirm the × 4 over-luminosity of USco 161031.9-16191305 B down to 0.3 µm. It could be explained in part by the object activity and if the companion is an unresolved multiple system.