Stroke is the main cause of physical disability in adult patients and the second leading cause of death in the world. This is not only a public health problem that affects millions of people around the globe, but also a social and economic problem. Conventional rehabilitation processes result in a slower, often massive and exhausting motor recovery, leading to demotivation and frustration in the patient. On the other hand, robotic devices prove to be an efficient tool when applied to rehabilitation processes. Therefore, it is proposed to use games and real activities using a mobile robot and a smart rehabilitation device to control it. The user in an upper limb rehabilitation session, using a dedicated smart device, can control the robot’s movements and thus perform various activities. In this work, the first protoype of the neurorehabilitation aid system is presented. It consists in a smart device, that allows the support of the forearm, and it is made up of a one DoF handle, a force-sensing resistor as well as a LASER sensor that controls the robot. The system is capable of monitoring the grip strength and the translation movement of the patient’s arm and, with this information, actuate the robot. Furthermore, data is recorded and can be viewed in real time during training, providing effective feedback to the therapist.