An assistive device to be exclusively used for rehabilitation and training of children suffering from loss of motor skills comprising of: a two degree of freedom pantograph planar structure made of 3D printed PLA material, a single stepper motor connected with the two links of the pantograph with a stylus placed in between the two links. The stylus acts as an end effector for the user to grasp allowing the user to trace the desired trajectory in two dimensions in the form of strokes, shapes or letters on a circular writing base made of MDF material. The assistive device has a single stepper motor enclosure at the top to which the two links of the pantograph are attached through its shaft and has a separate rectangular shaped box which contains the electronic control unit for proper functioning. The assistive device provides the user with assistance to keep on the pre-intended path as required for writing letters, numbers, and shapes and provides the user with pre calibrated feedback force when the user moves outside the permissible pre-determined error range by the control unit while using it.