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://www.diegojavierfares.com/flash-find-Bushranger-Awning-2-5m-W-x-2-0m-L-2-Year-No-Fuss-Warranty-AW2000-best-save/