This project targets the problem of developing a wearable modular robotic system (This work was supported by the Peter Kiewit Institute and NASA Nebraska Space Grant.), for assessing human movement and providing different types of exercises for the user. The system attempts to provide not only a variety of exercises (concentric, eccentric, assisted and resisted), but also to assess the change in variability of the movement as the subject shows functional improvement. The system will not only be useful for patients with sensorimotor problems such as stroke, Parkinson’s, cerebral palsy, but also for special populations such as astronauts who spend long periods of time in space and experience muscle atrophy. In this work, a first prototype of a modular robot is presented along with preliminary test results from basic active and passive wrist exercises that show the feasibility of this type of systems for assessment and exercise of human movement.