The invention is a portable training robot operated on table-top designed for home-based or community rehabilitation aiming at promoting hemiparetic upper limb motor recovery such as stroke. It is driven by 4 Omni castors, which allows the movement of the robot basically in 2 different movements - semi-circular and vertical movements, with opposite directions for both left and right arms. Robotic therapy for individuals after stroke has been proven as evidence-based practice in rehabilitation because it allows high dosage and intensity of training to the individual with guided movement and standardized behavioral protocols. Up to date, various kinds of training robots have been developed; however, they are often bulky and primarily used in clinical facilities, most importantly, are expensive and unaffordable to be used by clients at home. This portable and cost-effective device addresses these challenges by enabling clients to engage in effective rehabilitation in their homes or community centers.