Abstract: In this paper, the trajectory planning of a
two-link rehabilitation robot arm is addressed. Firstly, a
Cartesian planning of the trajectory is defined to perform
a proper motion exercise for the patient’s arm. Secondly,
a trajectory planning in joint space is studied to obtain a
similar Cartesian path with less computational complexity.
The robot arm analyzed is the two degrees of freedom serial
structure of the wire-based robot MariBot, which was designed
and realized at the Robotics Laboratory of DIMEG
(Department of Innovation in Mechanics and Management,
University of Padua, Padua, Italy).