The portable device for rehabilitating an impaired user having difficulties in executing simultaneous reaching and lifting tasks comprises an armrest whereto the forearm of the user can be fastened and mechanism for enabling the movement of the armrest on a surface. It furthermore comprises mechanism for monitoring the movement of the armrest and mechanism for sensing a force exercised by the arm of the user in an orthogonal direction to the surface. The device enables the user to conduct reaching movements in a large workspace having the forearm supported and fastened. The fact that the forearm is supported and fastened to the device allows for better control of the shoulder training movements, avoiding uncontrolled trajectories at the level of the elbow that are possible in case only a handle is grasped.