Rehabilitation Device Supporting Active and Passive Upper Limb Exercises

This article presents a mechatronic solution for rehabilitation devices supporting active and passive exercises in persons with motor dysfunctions of the upper limbs in the area of the elbow and shoulder joints. A planar positioner integrated with original software and a control system, served as the basis for creating the present solution. Bellman’s programming method was applied to optimize the motion trajectory of the planar positioner along with the upper limb undergoing rehabilitation. The design of the planar coordinate positioner and the components of the system for supporting a therapy conducted by a rehabilitation specialist are presented.