This article presents a mechatronic solution for rehabilitation devices supporting active and passive exercises in persons with motor dysfunctions of the upper limbs in the area of the elbow and shoulder joints. A planar positioner integrated with original software and a control system, served as the basis for creating the present solution. Bellman's programming method was applied to optimize the motion trajectory of the planar positioner along with the upper limb undergoing rehabilitation. The design of the planar coordinate positioner and the components of the system for supporting a therapy conducted by a rehabilitation specialist are presented.

The paper describes the construction and the principle of operation of a planar aerostatic two-coordinate relative base. The physical model and the mathematical description of a planar aerostatic two-coordinate relative base are presented. Stages of the computer simulation of the planar aerostatic two-coordinate base and the computer simulation results are presented.

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