This paper introduces a lightweight bilateral underactuated upper limb exoskeleton (UULE) designed to assist chronic stroke patients with distal joint (Elbow-Wrist) impairments during bimanual activities of daily living (ADL). The UULE aims to assist patients in shoulder flexion/extension. elbow flexion/extension. forearm pronation/supination. https://yeswellneses.shop/product-category/fitness/