Joint axis self-aligning hand exoskeleton assisting multiple fingers in unfolding, folding, bending and stretching

The invention discloses a joint axis self-aligning hand exoskeleton for assisting multiple fingers in unfolding, folding, bending and stretching, and relates to the technical field of rehabilitation medical instruments. The problems that in the prior art, a hand exoskeleton with a joint axis self-alignment design cannot achieve simultaneous large-range abduction/adduction movement of four fingers, and in a hand exoskeleton with a Bowden cable far-end driving design, a cable sleeve of a Bowden cable independently driving a PIP joint interferes with finger movement are solved. The robot comprises a thumb, an index finger, a middle finger, a ring finger, a little finger, a thumb transmission assembly, an index finger transmission assembly, a middle finger transmission assembly, a ring finger transmission assembly, a little finger transmission assembly, a base assembly and a far-end motor driving assembly. The far-end motor driving assembly drives the thumb transmission assembly, the index finger transmission ass