An upper-limb rehabilitation assisting device includes first and second handles coupled to first and second rotating shafts and rotationally operated by hands on a paralytic limb side and a healthy limb side； first and second biosignal detecting parts that detect first and second biosignals corresponding to the paralytic limb side and the healthy limb side； first and second drive parts that drive the first and second rotating shafts； and a control part that performs a cooperative control of the first rotating shaft and the second rotating shaft. The control part controls the torques of the first and second drive parts at the time of the cooperative control of the first and second rotating shafts the basis of the degree of cooperation between the first and second biosignals.
