  CLEVERarm (Compact, Low-weight, Ergonomic, Virtual and Augmented Reality
Enhanced Rehabilitation arm) is a novel exoskeleton with eight degrees of
freedom supporting the motion of shoulder girdle, glenohumeral joint, elbow and
wrist. Of the eight degrees of freedom of the exoskeleton, six are active and
the two degrees of freedom supporting the motion of wrist are passive. This
paper briefly outlines the design of CLEVERarm and its control architectures.
