A rehabilitation device includes a base unit, a circuit unit, a rolling unit, and a holding unit. The circuit unit includes a distance measuring element, which is partially exposed on a bottom surface of the base unit and can measure the moving distance of the base unit after the base unit contacts a plane. The rolling unit includes a plurality of rollers partially protruding from the base unit, a driving member, and at least one auxiliary wheel driven by the driving member. The rollers are continuously in contact with the plane, and the auxiliary wheel is driven to contact the plane. The rollers can make the base unit slide, allowing the user to stretch their upper limbs by themselves. When the user moves to his own limit position, the auxiliary wheel can be driven to gradually increase the moving distance of the base unit, so that the upper limb can be continuously stretched, and the limit of the extension distance and joint movement angle of the upper limb can be gradually increased.