We think that joint range of motion exercises, muscular power reinforcement practice, control of the senses, and motor learning are important as basic techniques of therapeutic exercise, and we endeavour to ensure that patients acquire accuracy in these areas. It is especially necessary to improve the joint range of motion at the earliest opportunity. In this report, we look at the shoulder joint and the elbow joint in range of motion exercises of the upper limbs, and report on two themes. One theme is the relation between the peel back mechanism in the shoulder joint and shortening of the ligament, and we explain the mechanism and the treatment method for joint range of motion limitation of the shoulder due to shortening of the inferior glenohumeral ligament. The second theme is the evaluation of elbow joint axis and exercises for elbow joint range of motion, and we explain the relation between abnormal elbow joint axis and range of motion limitation.