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The number of cerebrovascular and neuromuscular diseases is increasing in parallel with the rising average age of the world's population. Since the shoulder anatomy is complex, the number of rehabilitation robots for shoulder movements is limited. This paper presents the mechanical design, control, and testing of a 4 degrees of freedom (DOF) grounded upper limb exoskeletal robot. It is capable of four different therapeutic exercises (passive, active assistive, isotonic and isometric). Duringdoi:10.37868/sei.v2i1.106 fatcat:bwzuicqkcbgcnibpzcxqwxws2y