Social responsibility and biomedical engineering come together in rehabilitation engineering, making it an important component for social construction and generation of positive impact in the community. This paper presents the community work carried out between the Universidad Autónoma de Occidente, and the Medium Security Prison of Cali (EPMSC), where a low-cost mechanotherapy device was designed and manufactured for patients with disabilities were carried out. A new methodology was used, which combines components of social intervention and engineering. Here, we assess the importance of social responsibility in community projects, the link between engineering and the community, and highlight community-based collaborative design as an experience that contributes to a sustainable environment and an accessible world.