The present work describes the development of a robotic arm specifically designed to simulate end feels in the shoulder and elbow joints, thereby enhancing teaching within the field of physiotherapy. Constructed using 3D printing technology and Dynamixel servomotors, this device accurately replicates the final sensations experienced in these joints under various pathological conditions. The ability to replicate these specific end feels provides physiotherapy students with an extremely useful tool for studying and practicing diagnostics and treatments, eliminating the need for real patients. Additionally, an intuitive interface has been developed, allowing users to manipulate the robotic arm without prior knowledge in programming or robotics, thus facilitating its integration into the academic environment. The objective is to develop a device suitable for practical and educational applications which contributes to the teaching of physiotherapy by offering an innovative tool that enhances students’ understanding and skills. The prototype allows for the adjustment of simulated end feels at any point within the arm’s joint range of motion, providing a valuable resource for practice and study in situations where suitable patients are not available for practical learning. This approach enables future physiotherapists to familiarize themselves with a range of clinical conditions in a controlled and safe environment.