The invention relates to a portable rehabilitation device (10) intended for a user with a disability that makes it difficult to perform simultaneous extension and lifting movements. The device includes a supporting element (12) for the arm, to which the user's forearm can be secured, and means (16) for moving the arm-supporting element on a surface. The device also includes means (18) for monitoring the movement of the arm-supporting element and means (13) for detecting a force exerted by the user's arm in a direction orthogonal to the surface. The device enables the user to perform extension movements over a wide area, with his/her forearm supported and secured. Since the forearm is supported and secured, the device enables improved control of shoulder training movements, preventing uncontrolled elbow movements that can occur upon gripping a handle.
