An upper extremity rehabilitation device comprising: a base; a rotary shaft unit pivoted to the base and including a first shaft portion and a second shaft portion; a rotation drive unit disposed on the base and including a drive portion connected to the first shaft portion; a brake unit including an outer pipe which is disposed on the rotary shaft unit, and an inner pipe which is movably disposed in the outer pipe and includes a connecting portion; a linear move unit including a linear seat pivoted to the second shaft portion, and a linear platform which is linearly movably disposed on the linear seat; a hand gripping assembly disposed on the linear platform; a first connecting rod including a first rod portion which is pivoted to the connecting portion, and a second rod portion; and a second connecting rod includes a third rod portion pivoted to the second rod portion, and a fourth rod portion pivoted to the linear seat, whereby the rotary shaft unit is vertically rotated by the rotation drive unit and further includes an extension portion disposed between the first and second shaft portions (31, 32), the outer pipe is longitudinally fixed to the extension portion and includes a longitudinal drive member disposed in the outer pipe, and a brake screw driven to rotate by the longitudinal drive member, and the inner pipe is screwed on the brake screw, the brake unit standing vertically on the extension portion of the rotary shaft unit, so that the brake unit being spaced apart from and in parallel relationship with the rotary shaft unit and is able to move up;and the linear move unit further includes a linear drive member disposed on the linear seat, a linear screw which is driven to rotate by the linear drive member, and a linear nut which is linearly movably screwed on the linear screw, and the linear platform is fixed to the linear nut. a base; a rotary shaft unit pivoted to the base and including a first shaft portion and a second shaft portion; a rotation drive unit disposed on the base and including a drive portion connected to the first shaft portion; a brake unit including an outer pipe which is disposed on the rotary shaft unit, and an inner pipe which is movably disposed in the outer pipe and includes a connecting portion; a linear move unit including a linear seat pivoted to the second shaft portion, and a linear platform which is linearly movably disposed on the linear seat; a hand gripping assembly disposed on the linear platform; a first connecting rod including a first rod portion which is pivoted to the connecting portion, and a second rod portion; and a second connecting rod includes a third rod portion pivoted to the second rod portion, and a fourth rod portion pivoted to the linear seat, whereby the rotary shaft unit is vertically rotated by the rotation drive unit and further includes an extension portion disposed between the first and second shaft portions (31, 32), the outer pipe is longitudinally fixed to the extension portion and includes a longitudinal drive member disposed in the outer pipe, and a brake screw driven to rotate by the longitudinal drive member, and the inner pipe is screwed on the brake screw, the brake unit standing vertically on the extension portion of the rotary shaft unit, so that the brake unit being spaced apart from and in parallel relationship with the rotary shaft unit and is able to move up;and the linear move unit further includes a linear drive member disposed on the linear seat, a linear screw which is driven to rotate by the linear drive member, and a linear nut which is linearly movably screwed on the linear screw, and the linear platform is fixed to the linear nut.