In this paper, we report light-weight robot namely Robot Skin which is guiding the upper-body motion for therapeutic application. This robot is designed by wear-comfort centric concept. To achieve this target we performed hand pulling test based on anatomical knowledge and we introduced actuator based on shape memory alloy for light weight actuator. To verify the advantage of the proposed method and the developed robot we carry out several experiments with healthy subjects to instruct upper limb and hand finger movement.