A rehabilitation system that assists an action of a paretic arm due to brain damage, such as a stroke, includes: a detecting unit (10) that detects an assist action that a healthy arm assists the paretic arm an assist unit (20) that causes the paretic arm to carry out bending and stretching actions an adjustment unit (30) that adjusts an operation timing, operation speed, bending load or stretching load of the assist unit (20) in response to detection of the assist action by the detecting unit (10) and a control unit (40) that causes the assist unit (20) to operate in accordance with the operation timing, operation speed, bending load or stretching load, adjusted by the adjustment unit (30).
