Based on gentle recovered robot of cable drive hand motion function

The utility model provides a based on gentle recovered robot of cable drive hand motion function, constitutes by drive unit with the continuous execution unit of drive unit, and execution unit includes: an unit module 3 for driving the metacarpophalangeal joint unit module of finger root joint activity, the finger joint unit module far away who is used for driving the nearly finger joint unit module of finger middle part joint activity and is used for driving the joint activity of finger tip, drive unit be including identical drive metacarpophalangeal joint unit module, nearly finger joint unit module and the finger joint unit module far away of corresponding respectively of 3 group's autonomous workings and structure. the utility model discloses the three degree of freedom of other fingers and each articular moving angle degree beyond the thumb not only can be satisfied, series connection elastic drive ware is introduced moreover to the accurate control to joint moment has been guaranteed, big part is printe