Abstract: Disclosed is a two- and three-dimensional far infrared acupuncture device for therapy and rehabilitation, which includes: at least one tubular body including a far infrared ceramic material and having two ends respectively forming an opening and a ventilation hole and including an accommodation space formed between the opening and the ventilation hole; and at least one electrical heating unit having an end forming a handgrip section that includes a control device mounted thereto. The electrical heating unit has an end opposite to the handgrip section and insertable through the opening into the tubular body. The control device controls the temperature of the electrical heating unit in a range of 37-50 degrees Celsius so that the temperature is transmitted to the tubular body so that the tubular body emits far infrared light having a wavelength of 4-14 micrometers to stimulate the acupoints and organs of the human body.