A leg stretching device includes a base frame, a support plate adjustably coupled to the base frame, a leg tube including a proximal end hingedly connected to the base frame and a distal end, a foot plate disposed at the distal end of the leg tube, and an actuation assembly including an actuation tube hingedly connected to the base frame and an actuation bar slidably disposed within the actuation tube and hingedly connected to the leg tube. The actuation assembly includes an actuator motor for moving the actuation bar relative to the actuation tube to reposition the leg tube relative to the base frame.