以辅助中风、偏瘫等手功能障碍患者手指伸展康复运动为主要指标，设计一种新颖的、可适应不同手掌大小的手掌内撑式可穿戴软体康复手套，其主要由柔软可变形手掌、一体式弯曲软手指、柔软织物可穿戴装置等组成。基于Yeoh模型和虚功原理，采用等效法推导弯曲软手指截面平均壁厚的表达式，获得一体式弯曲软手指充气气压、外力矩与弯曲角度关系式，建立不同气压和外力条件下弯曲软手指的弯曲角度理论模型，并通过自由弯曲实验验证了模型的正确性。通过测力实验测定了柔软可变形手掌的变形压缩力以及单个弯曲软手指的输出力和输出力矩，设计了不同手指长度受试者的康复手套穿戴实验，验证了手掌内撑式软体康复手套的可穿戴效果。

This study presents the design of a novel wearable soft rehabilitation glove with internal palm support, aimed at assisting patients with hand dysfunction due to stroke, hemiplegia, and other conditions in performing finger extension rehabilitation exercises. The glove is adaptable to various hand sizes and consists of a soft, deformable palm, monolithic bending soft fingers, and a soft textile wearable device. Based on the Yeoh model and the principle of virtual work, an equivalence method is used to derive an expression for the average wall thickness of the cross-section of the bending soft fingers. The relationship between air pressure, external torque, and bending angle of the monolithic bending soft fingers is established, leading to a theoretical model for finger bending under varying air pressure and external torque conditions. The model's accuracy is validated through free bending experiments. Additionally, force measurement experiments determine the deformation compression force of the soft deformable palm, as well as the output force and torque of the bending soft fingers. Rehabilitation glove wearing experiments for subjects with different finger lengths are conducted, confirming the glove's wearable effectiveness.