The current home-based hand rehabilitation device has issues with functionality and usability, causing patients to discontinue its use and, consequently, waste resources. In this study, we aimed at exploring users’ needs and requirements for home-based hand rehabilitation devices, as well as identifying deficiencies in their development and design. We employed a qualitative research method, utilizing semistructured interviews and task observations, to investigate the perspectives and perceptions of individuals regarding user needs for hand rehabilitation devices at home. Our sample comprised 12 hemiplegic patients, six caregivers, and 10 occupational therapists. We conducted a contextual data coding analysis using the software NVivo 12.0, where we identified six categories of codes that represent user needs for robotic hand rehabilitation devices in home therapy: fundamental needs, ergonomic needs, emotional needs, accomplishment needs, policy support needs, and safety needs. These codes were subsequently translated into specific requirements. User feedback was used to prioritize the importance of limit protection control as the primary requirement, and emphasis was placed on the role of gamification in motivating individuals to actively participate in the rehabilitation process. The results of this study revealed user needs and requirements that can aid the development of design ideas for home-based hand rehabilitation devices.