1. A robotic system for multiple joint training using one training module, comprising a control tower having at least one locking mechanism: a rotational motor tower, said motor tower possessing a motor for torque; a multi-orientational module positioned on said rotational motor tower for contacting a user's limb; and a controller; wherein said locking mechanism is positioned on a handle for locking, said rotational motor tower in a position between total horizontal to total vertical, and said multi-orientational module is selected from the group consisting of a lower extremity module and an upper extremity module.