Abstract: A device for hand rehabilitation includes a glove to be donned on a user's hand, and a wrist flexion assembly that facilitates passive or assisted ulnar/radial flexion of the user's wrist. The wrist flexion assembly includes a first wrist actuator and a second wrist actuator, each of which is attached to the glove. In one embodiment, a wrist rotation assembly is attached to the glove and cooperates with the wrist flexion assembly to provide for passive or assisted supination/pronation of the user's wrist. Further, at least one finger actuation assembly can be attached to the glove for passive or assisted flexion/extension of a corresponding finger of the user.