Described herein is a motorized rehabilitation device comprising: a base bound by a lower surface and an upper surface； a first motorized wheel assembly supported on the upper surface of the base； a dome bound by an exterior convex surface and an interior concave surface, the dome biased for friction contact of the interior concave surface with the first motorized wheel assembly； and an end-effector positioned above the exterior concave surface, the end-effector configured to engage a body part. Also, described is a motorized rehabilitation device comprising: a base bound by a lower surface and an upper surface； a motorized cable- winch assembly supported on the upper surface of the base； a central rod extending from the upper surface of the base, a rotational joint connecting a first end of the central rod to the base； and an end-effector positioned at a second end of the central rod, the end-effector configured to engage a body part.
