This work presents a socially assistive robotic device designed to support hand rehabilitation by recognizing facial expressions and speech, which trigger interactive responses from the robot. The system integrates facial emotion detection, voice recognition, haptic feedback, motion, and visual expression to foster user engagement. It is intended for children, adults, and older adults, aiming to improve adherence to prosthetic adaptation or hand rehabilitation processes. Preliminary tests indicate that the system is easy to use, provides valuable support to rehabilitation specialists, and promotes empathetic interaction with users.