This research proposes a new device and method for scanning the hand of an after-stroke patient. The primary goal create an advanced technical solution that aids in the recovery and maintenance of hand function. The study involves constructing precise 3D models of patients’ hands using real-world data, developing a hand-scanning device to collect kinematic data, and designing a customized rehabilitation glove. The methodology encompasses theoretical analysis, simulation, and experimental testing to ensure the efficiency and reliability of the customized design of the hand rehabilitation device. The scanning 3D’s data will be demonstrated that the bone-hand structure for a customized patient that supports the design of a rehabilitation device meets both technical and medical standards, offering high user convenience and promising new advancements in hand rehabilitation.