In the growing field of powered orthotics, wearable and rehabilitation robotics the compact effective actuators remain one of the objects of numerous research and elaboration. This paper presents design and control strategies of an actuator developed for the therapeutic purposes and assistance during rehabilitation. This pilot version of an actuator consists of electrical drive, ball-screw, force and position sensing and control electronics. This paper as well describes construction and operation principle of a force measurement unit with an elastic element. Based on the developed electromechanical system we perform a force control and conduct a research on the orthosis positioning with specified impedance.