Design and Research of A Soft Hand Rehabilitation Robot with Multiple Training Modes

There are many hemiplegic patients with hand dysfunction caused by stroke. Restoring hand function can effectively improve the quality of life of patients. Traditional rehabilitation training can improve hand strength and flexibility, but there are few medical staff and high workload, which may easily lead to unstable training effect. Therefore, this letter designed a soft hand rehabilitation robot with multiple training modes. By analyzing the natural movements of human fingers, the flexible exoskeleton finger and driving unit are designed. The kinematics of the finger are derived to achieve uniform changes in the angle of the finger joints. The hand rehabilitation robot can support multiple training modes such as individual finger training, five-finger collaborative training, and left-right hand symmetry training. Experiments show that the hand rehabilitation robot can carry out continuous and stable finger joint training, and has a good rehabilitation training effect.