The present invention provides an exercise bar for use in rehabilitative therapy of joint structures, especially those of an impaired limb of a user. The exercise bar preferably comprises an elongated shaft having a longitudinal axis and two ends, a loop member comprising a loop attached to a first end of the shaft, and a handle member attached to a second end of the shaft at an angle to both the longitudinal axis of the shaft and the plane defined by the loop of the loop member. The loop preferably is in the shape of an isosceles triangle with the angles forming arcuated notches for receiving a portion of the user's impaired limb. Once the user's limb is seated within one of the notches, the shaft may be rotated about it axis to enable rotational, resistive stretching of a first joint complex or may be reciprocated along its axis to enable the performance of various exercises.