This chapter presents an integrated workflow for the design and development of Cable-Driven Parallel Robots (CDPRs) dedicated to functional rehabilitation. The process begins with a precise definition of the robot’s intended tasks, which serves as the foundation for designing an optimal structure through model-based optimization techniques. Various strategies can be employed to overcome the limited rotational workspace inherent to cable-driven systems, including planar, spatial, or hybrid configurations. For each case study, the robot’s mission is first analyzed to identify and characterize its task-specific workspace. The optimal architecture is then determined by formulating and solving an optimization problem that incorporates the relevant design parameters, criteria, and constraints. Once the robot is constructed, the control phase follows, where the homing sequence plays a pivotal role in enabling accurate initialization and the reliable execution of rehabilitation protocols. The proposed methodology can also be extended to the design of CDPRs for a wide range of task-oriented applications beyond rehabilitation.