Restoring upper limb functionality in individuals with neurological injuries remains a major challenge in rehabilitation and assistive technology. Exoskeletons have emerged as promising tools to support movement of individual or multiple joints. Recent advances in lightweight designs have enabled real-time motor assistance, yet intuitive control and sensory feedback remain limited—both crucial for dexterous motor recovery. Neurostimulation offers promising solutions to support functional restoration. In particular, Transcutaneous Electrical Nerve Stimulation (TENS) could allow to provide somatosensory feedback activating the nerve pathways non-invasively. This thesis describes the design and implementation of a modular system for controlling and sensing from a bidirectional upper-limb exoskeleton for assistive and rehabilitative applications.