This paper presents a systematic review focused on different mechanical design configurations (purely mechanical and mechatronic-assistive devices) used specifically to post-stroke rehabilitation and therapeutics activities. The process of synthesis of the 17 paper more relevant indicated the main tests prescribed and used for therapeutic and rehabilitation activities poststroke. During the review process, it was observed that there is no clear to choice of design configuration assistive device in a multidiscipline domain, specifically for upper limbs. There was no identification of papers that presented a comparative study of performance in rehabilitation treatment using mechanical and mechatronic robotic devices. The systematic review indicated that there are no significant differences between DT and CT, showing similar performances in rehabilitation therapies. The Fugl–Meyer assessment was the main outcome measure used in the rehabilitation treatments. All outcome measures presented in the studies were analyzed individually. The synthesis process presented in this paper indicated similar results between purely mechanical and mechatronic robotic assistive devices on the performance measures during the rehabilitation process in post-stroke patients. The similarity between performance of the purely mechanical and mechatronic-assistive devices for rehabilitation and therapeutic treatments reinforces the importance of the design for assistive technology in order to focus on ease of use, security, reliability, ergonomics and possibility of home use.