Abstract: A wrist exoskeleton is disclosed. The wrist exoskeleton includes a first means for imparting motion on a wrist of a user in a first degree of freedom corresponding to a flexion/extension of the wrist, and a second means for imparting motion on the wrist of the user in a second degree of freedom corresponding to a radial/ulnar deviation motion of the wrist. The wrist exoskeleton further includes a hand support adapted to be worn on a hand of the user corresponding to the wrist. The hand support and said first and second means for imparting motion on the wrist of the user in the first and second degrees of freedom interoperate with each other in a manner that permits the pronation and supination motion of a same forearm of the user corresponding to the wrist.