摘要：We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy *** an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist *** date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient *** specific examples are illustrated from the authors' experience with prototypes available at Laboratory of robotics and Mechatronics (LARM),Italy.