Upper limb rehabilitation is important to regain mobility. Robotic exoskeletons emerge as key tools, offering intensive and repetitive therapies that complement traditional methods. These devices allow controlled and repetitive movements, facilitating a more objective rehabilitation adapted to the patient’s performance. In this review we propose a critical analysis of this technology and in particular of two fundamental concepts, usability and adaptability, which are essential to achieve efficiency in the systems. An ergonomic design and the integration of intuitive interfaces are essential for patient comfort and adherence to treatment. It also proposes an approach to rehabilitation devices and systems applied to industry, which share similarities with those mentioned above.