The field of research dedicated to extending rehabilitation through the deployment of robotic devices is called rehabilitation robotics. The purpose of rehabilitation is to repair some or all physical, sensory, and mental disabilities of patients caused by injury or illness. Robotic rehabilitation is prescribed for patients suffering from several types of injury, illness, or disease, including cancer, amputations, arthritis, cardiac disease, orthopedic injuries, neurological problems, stroke, spinal cord injuries, and traumatic brain injuries. Patients with severe paresis can be provided with passive movement of the upper limb, through robotic rehabilitation. For patients with some movement capacity, robots can support the weight of the limb in contrast to gravity, owing to the physical interaction between the robot and the subject.