The present invention relates to a portable device for providing continuous passive motion of a limb comprising a brace for supporting said limb. A programmable motor, mechanically connected to the brace, provides continuous passive motion of a limb. The movement of the limb is controlled in two control points of movement at the lower arm. Flexible positioning means are provided with a fastening means positioning the brace and the programmable motor on the body of a person carrying said device in a stable position. The programmable motor is partially housed within the positioning means. The invention is particularly suitable for use in paramedical and orthopedic applications. It allows adduction and abduction, rotation and exo/endo rotation of a limb.