The control architecture of the CardioVR-ReTone was developed to allow the deployment of several exoskeleton control modes: assistive, partially assistive, and resistive. An industrial open controller manufactured by Siemens, CPU 1515SP PC2, was considered the main control unit. The PLC had a CANOpen communication module, used to connect with every actuator EPOS4 controller and several IOs modules used to connect the signals from the exoskeleton joysticks and mechanical safety limit switches mounted on the exoskeleton's structure. The mechanical safety limit switches were used to activate the safe torque off functionality of the actuators in cases of malfunction, considering the positioning process. The open controller operating system hosted the VR engine and Simulink. Simulink ran the kinematic algorithms and sent the positioning, speed, and torque **data** to every joint actuator controller. Feedback was received from every actuator controller and sent back to the Simulink Kinematics algorithm. Surface EMGs placed on human arms sent information about muscle activity using Bluetooth to the open controller, which fed the **data** to Simulink for processing and torque adjustment. The architecture of the CardioVR-ReTone operating platform was based on a distributed control approach; the ROS (Robot Operating System) platform is currently considered the first option for implementing control-related functions.