Abstract: Objective To design an exoskeleton mechanical device for hand dysfunction rehabilitation. Methods Based on the bionic　principles of the motion and the structure of finger joints, a micro exoskeleton mechanical structure with multi-joint fingers and multi-DOF　motion was established, which included wearable finger exoskeleton and micro-motor drive mechanism. With the motion analysis software,the motion simulation analysis of the design was carried out on the basis of the three-dimensional model of the mechanical device. Results　and Conclusion The structure of training device is compact and light, and the exoskeleton finger mechanism can move normally in the　range of 0～67° without interference. Simulation data show that the mechanical device can complete planning exercises, and meet the design　requirements of kinematics and mechanical properties.

Key words: exoskeleton, hand function, rehabilitation exercise, motion simulation