Rehabilitation Robots for Index Finger: From Rigid to Soft

Abstract

This paper explores the optimization and structural design of finger exoskeleton robots for postoperative rehabilitation, with a focus on stroke patients. It reviews the theoretical foundations, domestic and international research progress, and latest clinical studies of two major categories of finger rehabilitation robots—rigid-driven and flexible-driven—based on a systematic literature search of 30 relevant studies published between 2020 and 2025. Six typical robots are analyzed in detail, including their working principles, advantages, and disadvantages. A comparative evaluation from aspects like functional recovery, training mode diversity, control accuracy, applicability, mechanical safety, biocompatibility, comfort, human-robot interaction, cost-effectiveness, and portability reveals that existing robots have made progress in functional recovery and mechanical safety, but face limitations in control accuracy, human-robot interaction, cost, and portability. Future research directions are proposed, such as enhancing control accuracy via multi-sensor fusion and adaptive algorithms, improving interaction through flexible materials and VR/AR, reducing costs with 3D printing, and optimizing portability using lightweight materials and wireless technologies, to advance the development and application of finger rehabilitation robots.