柔性手指康复机器人：未来手部康复的新方向

Many typical finger rehabilitation machines have been developed worldwide, and clinical experiments based on these machines have confirmed the effectiveness of mechanical-assisted hand rehabilitation [8]. According to the material and structural design of finger rehabilitation machines, they can be divided into two parts: rigid exoskeleton type and flexible wearable type [9-11]. In the early stage of finger rehabilitation robot research, most of them had a rigid exoskeleton structure, relying on motor-driven linkages or gear meshing to achieve the purpose of rehabilitative movement of finger joints. However, the rigid structure is complex, heavy in load, and is only suitable for a single type of patient, with low adaptability [12-13]. Compared with rigid structure finger rehabilitation robots, flexible finger rehabilitation robots are more comfortable and safe, and many researchers worldwide have shifted their focus to flexible finger rehabilitation robots [14-17].