A rehabilitation device includes: an operation unit operated by a patient under rehabilitation; an operation amount detection unit that detects an operation amount of the operation unit; a driving unit that applies torque to the operation unit; a control unit that controls driving of the driving unit; and a movement state detection unit that detects a movement state of a moving part of the patient. The control unit calculates a target value of the operation amount to be performed on the operation unit based on the movement state detected by the movement state detection unit and a predetermined movement model and controls the driving unit so that the operation amount detected by the operation amount detection unit follows the calculated target value of the operation amount.