Provided is an upper limb exercise apparatus including: a table (T); a first link (L1) and a second link (L2) which are disposed above the table and are used for a left arm exercise and a right arm exercise, respectively; and handles (100) provided at ends of the first link and the second link so as to be gripped by the left hand and the right hand, respectively, and comprising: cameras (160) provided inside the handles (100) so as to capture images of fingers holding the handles; and a control determination unit configured to detect and determine an action of a user gripping the handles on the basis of the images captured by the cameras. It maximizes the opportunity to use the upper limbs by means of coordinated movement of the pair of arms, and improves the upper limb function of stroke patients with disabilities caused by a stroke.