以连续被动运动(continuous passive motion，CPM)康复理论为基础，设计一种可以完成对指运动的手指康复训练机械手.在分析人体手指结构及运动特点的基础上，通过动态运动捕捉系统采集手指末端运动轨迹参数，并结合图谱法进行手指康复训练机器人机构的尺度综合.最后，通过Simulink仿真实验验证了其可行性.

In this research a finger rehabilitation training robot is designed according to the continuous passive motion (CPM) rehabilitation theroy. Based on an analysis of the finger structure and movement trajectory, an optotrak certus motion capture system is used to acquire trajectory parameters of the finger tip movement. The atlas method is employed to accomplish mechanism dimensional synthesis of the finger rehabilitation training robot. Feasibility of the mechanism is verified using a modeling and simulation method with Simulink.