This paper deals with the development of a novel exoskeleton for the robotic rehabilitation of upper extremities. The system is based on modular custom-designed actuation groups implementing high reduction ratios and redundant position measurement for securing patient safety, and joint torque sensing for guaranteeing system performance and providing application flexibility. Experimental results of the special component prototypes are reported which confirm the validity of the developed actuation groups and the potentials of the proposed exoskeleton architecture.

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