In this study, an end-effector robot which is a two-axis delta robot type for upper-limb rehabilitation is designed. It is not only rehabilitation functions that has designed robot but also mechanical and electrical safety devices were constructed to ensure patient safety. By constructing the two-axis delta robot is combined with an LM guide, the operating range and rigidity required for rehabilitation were secured. The electrical safety system which is required for the medical robot was designed, and a safety strategy was established to ensure patient safety and it is applied in the integrated safety circuit. The safety is considered in whole design process from the robot's mechanical design to the electric control unit.