Active and passive rehabilitation training mechanism for hands

A chiral passive rehabilitation training of the main mechanism, comprising a base and a toothed belt drive, the toothed belt drive, the toothed belt sleeved on the driving wheel and the driven wheel, and the direct current motor and is provided with MR Damper on the toothed pulley bracket, provided on the optical encoder disk magnetorheological damper, the tooth belt with finger means, the finger, finger force sensors and connectors, attached to the bracket with a toothed pulley U-shaped frame and can be connected to effect rotation therewith, a toothed belt drive mechanism is connected to the X-direction rotating mechanism, comprising a second worm and a second worm gear engaged, the second worm is connected to the second stepping motor, the second stepping motor is provided in the U-shaped frame, a U-shaped frame are connected to the Z-direction rotating mechanism, comprising a turntable seat, a first worm and a first worm gear engaged, the first worm gear connected to the first stepping motor, is provided with the turntable on the turntable rotation axis, as a first shaft and a first worm gear connected to the worm wheel, connected to the turntable and the U-shaped frame, a turntable seat provided on the base.