This thesis presents a mechanical system design of a haptic cobot exoske-leton for use in physical therapy rehabilitation. The exoskeleton will be the first exoskeleton to offer cobot technology in a wearable haptic device. This exoskeleton provides a significant improvement in existing haptic exoskeleton technology by providing high performance haptic feedback while maximizing the user’s safety. An overall system and subsystem design is presented; which includes a spherical 3RRR mechanism for the shoulder. A detailed design of the shoulder mechanism is presented in five parts: a range of motion study, the kinematic parameters, the kinematics, kinematic optimization and a collision study. The range of motion study is based anatomical data collected using a Flock of Birds motion capture device. The design process for optimization of the shoulder mechanism is presented in which the shoulder mechanism is optimized by examining the Jacobian matrix with the lowest inverse condition number and global condition index. The result is an practical design of a exoskeleton with a high performance shoulder mechanism that is capable of reaching nearly a quarter of workspace developed by the Flock of Birds.

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