Post-stroke robotic rehabilitation attracts more and more attention as the cases of stroke survivors keep increasing. In this paper, a Kinect tracking system has been utilized with the purpose of determining the natural motion trajectory of the upper limb rehabilitation exercises for which will be used as an input for a cable-driven parallel rehabilitation robot, LAWEX. Furthermore, experimental tests were carried using the above described system and the integration of the Kinect system in the LAWEX robot's rehabilitative programme is justified.