This paper focuses on the design of a 2-DOF exo-skeletal mechanism for the lateral and frontal abduction of the human upper limb. Major consideration was placed on the location of the center of rotation of the humerous with respect to the scapula.An experimen-tal procedure for the determination of the kinematics of the shoulder girdle area using a CMM machine is described. The motion of the center of rotation of the shoulder is obtained using a Geneva mechanism. Kine-matical analysis of the proposed hybrid mechanism is discussed and a validation study is presented. A 3D CAD model of the mechanism is presented and a FEM analysis illustrates the stability and durability of the portable mechanism. It is expected that the mechanism under development will help people suffering from muscle atrophy or to accelerate injured people recovery.

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