Abstract: 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.

Key words: dimensional synthesis, finger rehabilitation, continuous passive motion (CPM)