A rehabilitation system for robotized mobilization of a human glenohumeral joint of a patient. The rehabilitation system may include a limb gripping member and an actuating mechanism. The limb gripping member may be configured to receive an arm of a patient and secure the arm of the patient in a predetermined position. The actuating mechanism may be configured to urge a head of a humerus bone of the patient to glide along a first axis by applying a linear force to a proximal end of the humerus bone of the patient.