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There is a need for wearable powered upper limb exoskeletons able to apply forces to the upper limb for use by people with disabilities and/or limb weakness or injury. The robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression) presented in this paper will provide a means of testing non-grounded control strategies in order to help these people. For instance, biomechanical loading, in particular, viscous loading of the upper limb has been proposed in the literature as a means for suppressing pathologic tremor. This article describes in detail the general concept for WOTAS, outlining the special features of the design and selection of system components.

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