This work deals with the complex mechanical design task of converting a large pneumatic rehabilitation robot into an
electric and compact system for in-home post-stroke therapies without losing performance. It presents the new
HomeRehab robot that supports rehabilitation therapies in three dimensions with an adaptive controller that optimizes
patient recovery. A preliminary usability test is also conducted to show that its performance resembles that found in
RoboTherapist 2D commercial system designed for hospitals. The mechanical design of a novel and smart twodimensional force sensor at the end-effector is also described