Strokes affect over 750,000 people annually in the United States. This significant and disabling condition can result in paralysis that must be treated by regular sessions with a dedicated physical therapist in order to regain motor function. However, the use of therapists is expensive, in high demand, and requires patient travel to a rehabilitation clinic. We propose an inexpen-sive and wearable upper body orthotics system that can be used at home to provide the same level of rehabi-litation as the current physical therapy standard of care. The system is composed of a soft orthotic device with an integrated cable actuation system that is worn over the upper body, a limb position sensing system, and an actuator package. This paper presents initial design considerations and the evaluation of a proof of concept system for shoulder joint rehabilitation. Through simulations and experimental evalua-tion, the system is shown to be adjustable, easily wearable, and adaptable to misalignment and anatomical variations. Insights provided by these initial studies will inform the development of a complete upper body orthotic system.

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