Rope-driven soft hand function rehabilitation device

A rope-driven soft hand function rehabilitation device, comprising:

• four finger exoskeleton mechanisms, a thumb exoskeleton mechanism, and a soft rubber glove, wherein the four finger exoskeleton mechanisms comprise an index-finger exoskeleton mechanism, a middle-finger exoskeleton mechanism, a ring-finger exoskeleton mechanism, and a little-finger exoskeleton mechanism,
• wherein the soft rubber glove comprises a strap loop buckle, a strap, a Bowden wire insertion port, a pulley steering mechanism, an aluminum buckle, a soft-rubber index-finger extension channel, a soft-rubber thumb adduction channel, a soft-rubber thumb extension channel, a soft-rubber thumb abduction channel, a soft-rubber thumb flexion channel, a soft-rubber index-finger flexion channel, and a buckle mounting recess,
• wherein the buckle is mounted in the buckle mounting recess by using a pin, and a plurality of through holes is made in the strap;
• the strap is configured to be passed through the buckle, a tongue of the buckle is passed through one through hole of the strap to achieve fastening, and the remaining strap is inserted into the strap loop buckle;
• a rope is threaded through the Bowden wire insertion port and is connected to an actuator;
• the actuator is configured to change a direction of a driving force generated by a motor;
• and
• the soft-rubber index-finger extension channel, the soft-rubber thumb adduction channel, the soft-rubber thumb extension channel, the soft-rubber thumb abduction channel, the soft-rubber thumb flexion channel, and the soft-rubber index-finger flexion channel are provided on a surface of the soft rubber glove.