The evolution of an arm exoskeleton design for treating shoulder pathology is examined. Tradeoffs between various kinematics configurations are explored, and a device with five active degrees of freedom is proposed. Two rapid-prototype designs were built and fitted to several subjects to verify the kinematic design and determine passive link adjustments. Control modes are developed for exercise therapy and functional rehabilitation, and a distributed software architecture that incorporates computer safety monitoring is described. Although intended primarily for therapy, the exoskeleton is also used to monitor progress in strength, range of motion, and functional task performance

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