A training robot designed for homebased rehabilitation aimed at promoting motor recovery in stroke patients with hemiparetic upper extremities. Stroke often results in significant upper limb impairment, affecting patients' ability to perform daily activities. Current rehabilitation methods are often limited by access to clinical facilities and the high cost of existing robotic therapies. A portable and cost-effective robotic system addresses these challenges by enabling patients to engage in effective rehabilitation in the comfort of their homes and in the community facilities.