A robotic system (100) for multiple joint training includes a control tower (101) having at least one locking mechanism (509,609), a rotational motor tower (103) possessing a motor, a multi-orientational module (111) being positioned on said rotational motor tower so as to contact a user's limb, and a controller (717). Wherein said locking mechanism is positioned on a handle for locking. Said rotational motor tower is positioned between a total horizontal position and a total vertical position. Said multi-orientational module is selected from he group consisting of a lower extremity module (600) and an upper extremity module (500). A method of training multiple joints in a limb using the robotic system above-mentioned is also disclosed. By the present invention, the user can use the device to switch training between the vertical and horizontal planes, without changing the device and any module. The system is also adjustable to meet different users' body sizes.