“BIOMIMO Design & Test” is a software application to aid the process of designing and testing IADs (Intelligent Assist Devices), also known as orthoses, developed by the Ikerlan technology centre. This software combines Augmented Reality (AR), Virtual Reality (VR) and videobased optical motion capture techniques in order to evaluate a prototype without actually constructing it, and to avoid the risk of testing it on a real person. Initially, it is applied to a 2 DoF (degrees of freedom) arm orthosis. This paper, in a first instance, describes the orthosis designed, and the position/force control strategies implemented. It then goes on to describe the motion capture system used as a way of human-computer interaction and the software developed. The controllers were tested using the virtual prototype, taking as data input the movement of a real user and interacting with a virtual wall. Some results are presented as well.