The 26-year-old has been sidelined since November due to ankle ligament damage, but could feature among the substitutes at White Hart Lane.
Gunners physio Colin Lewin had recently told the club's official website: "Robin will be joining the squad for full training imminently."
Meanwhile, the agent of French right-back Bacary Sagna has played down rumours of a summer move for his client from Internazionale.
Christophe Mongai told tuttomercatoweb: "In the next session of the market I expect many transfers of full-backs.
"If Maicon were to leave it would be logical that Inter Milan think of a player like Sagna.
"Have I had contact with Inter? There was speculation but nothing concrete, possibly we'll talk more in the future.
"However, I want to stress the player is very happy in London."