Apparatus (1) for rehabilitation of an upper limb of a person comprising a base frame (10) and a kinematic chain (100) connected to each other. The kinematic chain (100) comprises a plurality of rigid links (21-25) connected in series one after the other through a plurality of rotational joints (31-34), each of which having a respective rotation axis (131-134) and arranged to rotatably connect two successive rigid links of the series. The apparatus (1) comprises a plurality of actuation groups (70), each of which associated to a respective rotational joint and configured to generate and transmit a predetermined driving power to the rotational joint associated to it. The series of rigid links (21-25) comprises a first rigid link (21) operatively connected to the base frame (10) through a connection device (50) configured to move from a connection configuration, in which the first rigid link (21) is integral to the base frame (10), to a release configuration, in which the first rigid link (21) is free to rotate with respect to the base frame (10).
