Robinho has yet to appear in competitive action for the Rossoneri this term after struggling with a thigh problem.
"I'm well, I'm happy and I have recovered," he told Milan Channel on Wednesday.
"I'm now training with the squad and I hope to give a helping hand to my teammates as soon as the next game.
"When I felt the first pains in August I didn't think that I would be sidelined for so long with the problem. I've never suffered any serious injuries in my career, but this one went the way it did.
"It's all over now though and I can't wait to step back on to the pitch at San Siro and return to victory with Milan."