This invention patent refers to a piece of equipment for the motor rehabilitation of the upper and lower limbs, which is compact, portable, lightweight, and easy to transport. The equipment has a gadget for the distal end of the patient™s limb, a robotic arm, a gear system, two motors, a virtual and/or augmented reality software to interact with the patient. A management and control system makes possible the execution of movements and exercises in the three-dimensional space so that patients with neurological, musculoskeletal, muscular, rheumatic, motor and/or cognitive diseases or injuries and patients in post-surgical recovery may exercise and recover the movements of their upper and/or lower limbs. The equipment may also be used for the purpose of training and physical fitness.
