refer especially to that type of robots, mainly exoskeletons, that can deliver structured physical exercise, education, and risk reduction to the cardiac patients in a cost-effective manner. The exoskeleton for cardiac rehabilitation is to support motor recovery of patients following a cardiac surgery or a major cardiac event to ensure a normal – active and independent – life. The main challenge in the design and development of such a robotic exoskeleton will be to allow the natural movements of the upper arms and body of the patients; to achieve this goal the focus should be on design the shoulder girdle and forearm mechanism, on kinematic design, design the actuation and controlling system, defining the dynamics of the exoskeleton, etc. Within our research group, we explore each of these dimensions of the design and development of a rehabilitation robotic system.