## 1 Introduction
Therefore, passive devices typically lighter in weight and require less energy than active devices [10]. On the other hand, the AAM devices equipped with the actuation unit, one of the widely utilized actuators in neurorehabilitation robotic systems, is electric motors [18]. AAM devices are used to move patient limbs actively; they are best used when they cannot perform simple ADLs movements. However, some active devices consider passive because the end-user effort is not required; practically, the end-user remains inert while the device provides an active motion to the integrated joint. These systems help guide and guarantee that the patient's limb follows the planned workspace trajectory by providing continuous passive motion (CPM) [10]. CPM machines are one of the most frequently cited methods of treatment supported by the developed therapy exoskeletons. Passive mode is helpful to avoid early recovery of muscular contractures. Thus, the CPM machine became more particularly helpful in the initial phase in contrast to existing exoskeletons in literature. A significant number have been indicated to improve the range of motion, displacement, and grabbing capacity of the wrist or fingers neurorehabilitation robotics based on CPMs have been designed. Moreover, they are the most popular technologies in the industry to improve motor-sensory disability for upper-limbs. In the market commercial, CPM-based development can be found [19; 20; 21; 22; 23; 24]. The most highly developed existing commercial products are Amadeo, Tyromotion [19], which is based on an end-effector design that uses an electric motor to train five fingers for either hand. Another popular CPM machine developed by SammonsPreston Kinetec Masters [20], this system targets the fingers and wrist. Another commercially available Hand Mentor TM, Kinematic Muscles [21], is a wearable orthosis that uses one pneumatic actuator, targeting the wrist and four fingers. In addition, there are inventions for rehabilitation, available from research laboratories, publishing, and studies, in general targeting upper extremities and more specifically for finger grabs and for the wrist, which is not available on the market. AMES, Cordo [25] is a stationary system that supports one DOF, both [16; 25] use electric actuator and train both fingers and wrist. Another Stationary system called HWARD, Takahashi [26] supports 3 DOF and uses three Pneumatic actuators. While Hasegawa [27] is a grasp assistance device that uses 11 DC motors and supports 11 DOF. A recently published robot-looks called EULRR [28] uses two commercial manipulators, each manipulator's hand 7 DOF. This paper presents a new design and development of a cost-efficient Fingers and Wrist Rehabilitation Mechatronic System (FWRMS). Concerning the mechanical structure, the proposed FWRMS combines a grounded exoskeleton and end-effector structures to provide repeatable a continuous passive motion for either hand left or right. The proposed system performs four essential movements of the hand which illustrated in Figure 1, the hand movement, including one fingers flexion/ Extension (F/E); two wrist movements flexion/ Extension (F/E), and Wrist Radial/ulnar (R/U), deviation; forearm pronation/supination (P/S). Furthermore, this paper also introduces a mechanical construction and transmitting system that has managed to imitate the intended joints' movements safely and comfortably in the desired trajectories. We have also proposed a portable interactive controller in this article, which allows the first user to choose the desired therapy and therapy parameters via the developed control menu. The most recent related studies in the literature, which were carried out from the literature by universities, research institutes, and studies, is concentrating on the design and development of robotics focused on upper limb assistive-robot rehabilitation systems. This section addresses some of the latest advances in the upper limb's design listed in Table 1.