Compact, portable, equipment for motor rehabilitation of a patient's upper and lower limbs that permits the execution of movements and exercises with a curvilinear trajectory in three-dimensional space, wherein the equipment comprises: a gadget configured to connect to a distal end of the patient's limb such that the patient's limb under the influence of gravity remains suspended in three-dimensional space； a robotic arm connected to the gadget； a gear system comprising a first opposite gear, a second opposite gear, a spider gear and a connection element, wherein the gear system is connected to the robotic arm via the spider gear； a first motor connected to the first opposite gear and a second motor connected to the second opposite gear； optionally two gear reduction boxes each connecting an opposite gear with the respective motor； at least one driver for the motors； virtual and/or augmented reality software； a management and control system configured to receive information from the virtual and/or augmented reality software and to control the robotic arm； and a screen, or any other suitable medium configured to display the virtual and/or augmented reality software to the patient.
