Using intelligent rehabilitation robot to intervene hand function after stroke is an important physical treatment. With the development of biomedical engineering and the improvement of clinical demand, the comprehensive intervention of hand-function rehabilitation robot combined with new technologies is gradually emerging. This article summarizes the hand rehabilitation robots based on electromyogram (EMG), the brain-computer interface (BCI) hand rehabilitation robots, the somatosensory hand rehabilitation robots and the hand rehabilitation robots with functional electrostimulation. The advantages and disadvantages of various intervention methods are discussed, and the research trend about comprehensive intervention of hand rehabilitation robot is analyzed.
利用智能机器人技术对脑卒中后手功能障碍进行康复是重要的物理干预手段。随着生物医学工程的发展和临床需求的提高，逐渐出现结合新兴技术的手功能康复机器人综合干预。本文总结了基于肌电的手功能康复机器人、脑机接口（BCI）式手功能康复机器人、结合体感的手功能康复机器人和功能性电刺激辅助式手功能康复机器人。讨论了各种干预方式的优势与不足，并且分析了手功能康复机器人综合干预的研究趋势。.
Keywords: comprehensive intervention; hand function; rehabilitation robot.