A biomedical device (1) for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint, includes a first rigid rod (2) and a second rigid rod (3), both of which can be associated with the upper limb (4) of a patient (5) and are articulated to each other at two adjacent ends (2a, 3a) thereof by way of a first universal joint (6) which can be arranged proximate to the elbow joint (7) of the upper limb (4). The first rigid rod (2) and the second rigid rod (3) are associable respectively with the forearm (28) and the arm (13) of the upper limb (4) by joints with four degrees of freedom, of which three are rotary (35, 36, 37, 46, 47, 48) and one is translational (38, 49) and aligned with the longitudinal axis, respectively, of the forearm (28) or of the arm (13), the first universal joint (6) having pivoting axes (54, 55) which are mutually perpendicular and angled with respect to the longitudinal axis of the arm (13) to prevent a condition of kinematic singularity during alignment between the forearm (28) and the arm (13).