Abstract: A device for producing a continuous passive motion machine for the bending and stretching of the jointed limb of a person, according to a predetermined motion cycle. The device includes a driving element capable of moving to-and-fro along a linear path defined as a base element and an upper and lower element supporting a jointed limb, linked for pivoting about an axis x—x that is substantially transverse relative to said path. A linking element connects the upper element to the driving element. The linking element is mounted so as to pivot in relation to both said upper support element and the driving element about axes that extend substantially transverse relative to the path. The lower element supporting the limb is adapted to be retained in sliding engagement against the linking element.