A therapeutic device for improving voluntary control of paretic muscles in a patient extremity is provided. The therapeutic device is designed to be portable and may be strapped onto a patient's wrist or ankle. The device employs a plurality of micro-motors configured to deliver vibratory sensations to a patient extremity as somatosensory inputs. Each micro-motor is dimensioned to reside on a patient's respective finger or along their foot. The therapeutic device also includes a micro-processor programmed to actuate the micro-motors for designated times and in pre-programmed sequences, and a housing containing the micro-processor. A method of using somatosensory input as a functional guidance to improve motor function in a patient extremity is also provided.