Robinho arrived at Milan's Malpensa airport this morning and was taken to Gallarate hospital for tests.
"I am very happy," said Robinho to Sky Italia. "Milan is an excellent club."
The Brazilian's transfer to the Serie A outfit could, however, hit a stumbling block as AC Milan try to offload striker Marco Borriello first.
The Italy international has been offered a loan move to Juventus but has rejected it as his wish is to have a permanent move.
He spent the second half of last season on loan at Santos.