An apparatus for manipulating joints of a limb of a patient is provided. The limb comprises a plurality of limb segments, Each limb segment connects one or more joints. The apparatus includes one or more motor modules removably coupled to a supporting structure configured on the limb, each motor module including a plurality of motor drives. The apparatus also includes a manipulating exoskeleton assembly comprising a plurality of exoskeleton segments removably secured on a limb segment. Further, a plurality of actuating members is operatively connected to each motor module of the one or more motor modules. A first end of each actuating member is operatively connected to a motor drive of a motor module and a second end is removably coupled to an exoskeleton segment of the plurality of exoskeleton segments. Each actuating member is driven by a motor drive operatively connected to the each actuating member.
