Abstract: An exoskeleton device having embedded software for moderating involuntary movements, for example, of a patient afflicted with Parkinson's Disease or Essential Tremor, the exoskeleton comprising at least one cuff fitted to the patient, a motor configured to drive the cuff to apply torque to an arm of the patient enclosed in the cuff, gyroscopes and accelerometers configured to detect movement of the arm and to generate signals indicative of the movement, digital filters for distinguishing portions of the signal reflecting voluntary movement from portions of the signal reflecting involuntary movement, and a control system configured to operate the motors such that the torque applied to the arm of the patient counters the involuntary movement but permits voluntary movement.