A physical therapy system featuring a leg portion and at least one arm portion, wherein the leg portion comprises a base with two half cylinders, each divided into two portions that can pivot via hinges operatively connected to motors, wherein the two half cylinders can also pivot about their first ends via a first central motor, and wherein the arm portion comprises a base with a half cylinder divided into two portions that can pivot via a hinge operatively connected to a motor, wherein the half cylinder can also pivot about its first end via a second central motor.