The invention relates to a non-intrusive rehabilitation device (1) suitable for rehabilitating a patient's joint, the joint connecting a first extremity portion to a second extremity portion. The rehabilitation device (1) comprises first grabbing means (11), adapted to grab the first extremity portion； second grabbing means (12), adapted to grab the second extremity portion； and motion means. The motion means are adapted to move the first (11) and/or second (12) grabbing means to cause both a rotation and a translation relative movements between the first grabbing means (11) and the second grabbing means (12), thus performing a joint extension or flexion and traction.
