臨床上對於中風病人進行的手部復健方式，大略可分為由治療師引導失去自主運動能力的病患做出特定動作的被動式復健，或是對於仍有些許自主運動能力的病患於主動動作過程中給予適當阻力或助力的主動式復健，最後再以定性的量測或觀察做為復健療效的評估。
本研究的目的為利用機器人來達成治療師的手法，進行伸展以及屈曲的運動，針對無法隨意自主動作的病人，設計可帶動病人的手指被動地動作的復健用機器人，而在病人主動動作的過程中也可提供適當的阻力或助力，以模仿臨床復健治療動作之方式來誘發病人的神經肌肉系統恢復機能，本研究的機器人機構設計為利用滾珠螺桿作為傳動的方式，帶動裝置於各手指上之指套，藉由指套帶動病患手指動作。而當復健機器人帶著中風病患動作的時候，機器人上的壓力感測器可感測當時病人手指的出力，將訊號回傳至控制系統，此回授訊號也會紀錄於電腦之中，以提供醫師或物理治療師進行治療參考以及日後的復健成效之分析。
本研究已完成了機器人的軟硬體開發，並利用被動拉伸與軌跡追蹤兩實驗搭配被動剛性和軌跡誤差均方根量化指標來評估受測者的手部功能，此復健機器人並具有一個容易操作的人機介面提供醫師或物理治療師使用。

There are two kinds of treatments for rehabilitation of hand of stroke patients clinically. In the passive treatment, the paralyzed hand was passively manipulated by the physical therapists to prevent the un wanted movements. In the active treatment, the stroke patients have to finish the movements voluntarily under the assistance or the resistance of the physical therapists. After the treatments, the physical therapists also assess the effect of the treatments qualitatively.
The goal of this thesis is to develop a robot for hand rehabilitation by performing various facilitation patterns. The robot is applied to extension and flexion movements for the stroke patients. For passive stretch, the robot can guide the subject’s hand to extension or flexion. For voluntary movements, the robot can apply assistance or resistance force to facilitate the neuromuscular system of the patients when subjects performed trajectory tracking. The robot is constructed by the ball screws and the finger tubes. During movements, the encoder and force sensor record the position of the hand and the reactive force between robot and patients’ hand. Off-line analyses of these biomechanical data were used to assess progress of hand rehabilitation quantitatively.
The robot system has been built by integrating a mechanism, an actuator, a controller, system software and a man-machine interface. Two treatments : passive stretch and trajectory tracking were realized and two quantitative assessments : passive stiffness and tracking error root mean square to assess the hand functions of the patients.

1.M. A. Pagliarulo, Introduction to physical therapy, St Louis, 2001.
2.Hunt. J. M., The rehabilita