Rehabilitation robots start to become an important tool in stroke rehabilitation. Compared to manual arm training, robot-supported training can be more intensive, of longer duration, repetitive and task-oriented. Therefore, these devices have the potential to improve the rehabilitation process in stroke patients. While in the past, most groups have been working with endeffector-based robots, exoskeleton robots become more and more important, mainly because they offer a better guidance of the single human joints, especially during movements with large ranges. Regarding the upper extremities, the shoulder is the most complex human joint and its actuation is, therefore, challenging. This paper deals with shoulder actuation principles for exoskeleton robots. First, a quantitative analysis of the human shoulder movement is presented. Based on that analysis two shoulder actuation principles that provide motion of the center of the glenohumeral joint are presented and evaluated.

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