中风是残疾的主要原因之一。它影响全球数百万人。中风的一种症状是禁用的ARM功能。恢复ARM功能对于恢复日常生活活动（ADL）是必要的。随着传统的康复技术，最近出现了机器人辅助疗法。康复机器人的控制方案是设计的两个原因。首先，它们专为被动康复而设计，其中机器人引导患者的患者。S肢通过预定路径和第二用于积极的康复，其中患者启动运动并由机器人装置部分辅助或抵抗。本文介绍了一个肩部康复的新机器人。肩部康复系统（SRS）具有三个自由度（DOF），用于肩部的三个旋转DOF，但肩部的额外平移DOF也可以避免对患者的不适。 A new open circular mechanism is proposed for the third joint that solves the known issues for rehabilitation robots such as long wiring and discomfort associated with closed mechanisms. Lyapunov-based controller with integral action is proposed to guide the robot through a predefined trajectory. Simulation results proved that the proposed controller can track the desired trajectory; reject constant bounded disturbance to the system and is robust due to its nonlinear nature. The proposed controller is designed to be used in passive rehabilitation.