**2. Uses of SMA actuators in medical rehabilitation**

This section will provide guidelines for designing SMA actuators aiming at moving human joints. General statements and suggestions will be accompanied by the discussion of a case study taken from the authors' experience, i.e. an ankle mobiliser conceived as a lightweight and portable tool for providing neurologic patients (stroke, traumatic brain injury, paresis) with motor support and sensorial stimulation not only during the very early phase of rehabilitation when they are still unable to exercise, but also during the subsequent phase of motor relearning, thanks to a specially-designed biofeedback-based control system.
