A device and method for assisting a user to articulate a limb. The device has an upper section, a lower section, and at least one joint between the upper and lower section. The device comprises an exoskeleton with a first cuff coupled to the lower section of the users limb, a second cuff coupled to the upper section of the users limb and a third cuff coupled to a portion of the users body above the upper section of the limb. At least one cable is attached to the first cuff and at least one cable is attached to the second cuff. A series of drivers located remotely from the exoskeleton are attached to cables and are connected to a processor. The processor transmits signals to the drivers to vary the lengths of the cables to guide articulation of the users limb.
