In general, treatment of full or partial loss of function in the upper limb due to injury relies on extremely labour intensive physiotherapy procedures. Although mechanical assistive device exist for limbs this is rare for the upper body. In this paper we present a seven degree of motion prototype upper arm training/physiotherapy (exoskeleton) system. The total weight of the uncompensated orthosis is less than 2kg. This low mass is primarily due to the use of a new range of pneumatic Muscle Actuators (pMA) as power source for the system. This type of actuator, which has also an excellent power/weight ratio, meets the need for safety, simplicity and lightness. The work presented focuses on the physiotherapy and training control architecture used to make the system a multi-functionality facility which permits the execution of physiotherapy and training regimes under isokinetic, isotonic and training mode operation.

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