To reduce the dreadful consequences of immobility syndrome in the elderly population and adults and young people with some restriction of mobility or disability, an innovative device - ABLEFIT - was designed. This biomechanical device aims to provide an advanced solution to support a customized physical rehabilitation, combining a physical system to aid physical exercise, in passive and active modes, in bed and in a wheelchair, a control system for monitoring and storing biofeedback variables and motivational stimulus through interaction with gamification. After prototype construction, a preliminary usability study was carried out to evaluate the developed prototype, namely regarding its functionality, ergonomics and safety, both from the point of view of the end user and health professionals’ perspectives. The results from pre-clinical studies will allow the optimization of the ABLEFIT device by developing solutions that ensure the implementation of customized physical rehabilitation programs in a controlled and interactive way.