A specific challenge in robotic control applications is the identification and regulation of actuators that provide mechanical traction and motion to the robot links. The design of actuator control laws, grounded in parametric identification and experimental motor characterization, enables numerical simulations to explore diverse operating scenarios. This article presents the initial phases in the development of a robotic rehabilitation system, focused on the kinematic modeling of a parallelogram-configuration robot for upper-limb therapy, the fuzzy identification of its actuators, and their closed-loop evaluation using a fuzzy Parallel Distributed Compensation (PDC) controller with state feedback (Ackermann), whose poles are optimized via the Grey Wolf Optimizer (GWO) metaheuristic. This controller was selected for its congruence with the nonlinear universe of discourse defined by the identified model, a key feature for operation within specific functional ranges in medical applications. The simulation and hardware platform results provide evidence that fuzzy dynamic models constitute a valuable tool for application in rehabilitation systems. This work serves as a foundation for future physical implementations with the fully coupled robotic system, in order to ensure operational safety prior to the start of clinical trials.

This article presents the conceptual design of a robotic rehabilitation device focused on the recovery of the elbow joint, aimed primarily at individuals who have suffered a cerebrovascular disease or trauma to that joint. The device was developed following Ullman’s mechanical design methodology, which allowed the project to be structured systematically. The robot enables repetitive flexion-extension movements of the elbow, with the goal of restoring mobility to the affected upper limb. To ensure the mechanical integrity and functional reliability of the proposed system, a structural validation was conducted through finite element analysis, along with studies for the selection and design of the electronic and instrumentation components. This development represents a step forward toward accessible, functional, and efficient rehabilitation solutions.