Exoskeleton hand rehabilitation training device

The invention provides an exoskeleton hand rehabilitation training device for hand rehabilitation training of a stroke patient. The exoskeleton hand rehabilitation training device mainly comprises a finger driving device, a hand supporting assembly, a wrist supporting assembly and a motor driving device. The finger driving device is installed on the hand supporting assembly. The hand supporting assembly and the motor driving device are installed on the wrist supporting assembly. Power of a motor is transmitted to the finger driving device through a steel wire flexible shaft assembly, finger joints can move through gear transmission, the four fingers can be driven independently, the structure is simple and easy to obtain, and due to the rear motor driving device and the steel wire flexible shaft driving mode, the weight of the finger exoskeleton structure is lowered. Due to the fact that an arc track structure is arranged on the finger driving device, the rotation center of the exoskeleton device and the rotation center of the finger joints are kept consistent, and the finger driving device can adjust the length of the exoskeleton finger and replace a finger fixing ring according to the lengths and radiuses of fingers of the patient.