An exoskeleton device and method of using the same is provided that helps rehabilitate limbs such has the lower arm. Embodiments of the exoskeleton device have multiple degrees of freedom so that a limb such as the lower arm may flex or rotate in multiple directions to establish or re-establish neural connections in the brain. With the lower arm example, a person may grasp a handle in the exoskeleton and then flex the lower arm about a pronation/supination axis, a flexion/extension axis, and/or an abductor/adductor axis. The exoskeleton device has several modes of operation where actuators can aid the persons motion, resist the persons motion, or passively allow free motion of the persons limb.
