中文摘要：

针对中风和脑外伤患者的运动功能障碍问题，设计了一种新型的穿戴式手功能康复机器人。机器人采用气动肌肉驱动，能够辅助患者完成手指多关节复合运动功能训练。该机器人有3个自由度，通过角度和力传感器获取患手一机器人组合系统的状态参数，并采用虚拟现实技术构建康复治疗虚拟环境，提高患者的训练兴趣，从而增强康复效果。采用传统的PID控制器进行了临床实验，实现了关节角度的三次样条参考轨迹跟踪，实验结果验证了所设计的穿戴式手功能康复机器人的可用性和有效性。

英文摘要：

A novel wearable robot of hand repetitive therapy was developed for stroke and traumatic brain rehabilitation. The robot driven by pneumatic muscles can help patients to complete repetitive training task for motion function rehabilitation of their fingers＇ joints. The robot had three degrees of freedom, which was equipped with three angle sensors and two force sensors to acquire the state of the human--robot hybrid system. At the same time, virtual reality technology was used to build a virtual rehabilitation environment in the system in order to enhance the patient＇s interest and optimize the effect of rehabilitation. Finally, a conventional PID controller was implemented and the cubic spline function trajectory tracking control for joint＇s angles was realized. Experiments were performed to confirm the effectiveness of the proposed device and methods.