An upper extremity rehabilitation device includes: a base, a rotary shaft unit, a rotation drive unit, a brake unit, a linear move unit, a hand gripping assembly, a first and a second connecting rods. The rotary shaft unit is pivoted to the base. The rotation drive unit is disposed on the base and includes a drive portion connected to the first shaft portion. The brake unit includes an outer pipe disposed on the rotary shaft, and an inner pipe movably disposed in the outer pipe. The linear move unit includes a linear seat pivoted to the second shaft portion, and a linear platfoum movably disposed on the linear seat. The hand gripping assembly is disposed on the linear platform. The first connecting rod is pivoted to the brake unit. The second connecting rod is pivoted to the first connecting rod and the linear seat.
