Abstract: A device for rehabilitation of the upper limb includes a frame and an exoskeleton mounted on the frame. The exoskeleton has a first joint coupled to the frame, a first L-shaped connector connecting the first joint to a second joint, a second L-shaped connector connecting the second joint to a third joint, and an attaching member attaching an upper limb of a human subject to the exoskeleton. The first joint is situated above a shoulder of the human subject and has a first axis of rotation substantially coinciding with the horizontal abduction/adduction rotation axis of the shoulder. The second joint is situated behind the shoulder and has a second axis of rotation coinciding with the abduction/adduction rotation axis of the shoulder. The third joint is situated at the side of the shoulder and has a third axis of rotation substantially coinciding with the flexion/extension rotation axis of the shoulder.