A wearable rehabilitation robot for hand function recovery was designed by using self-made pneumatic soft actuator for patients with hand movement loss caused by brain injury and stroke.The deformation model of the soft actuator was established based on the Yeoh constitutive equation,and the finite simulation and static experiments were carried out.Also,the physical prototype was made and the posture and grasping experiments were done on the experimental platform.The experiment results show that the rehabilitation robot has good flexibility,compliance and adaptability,and it is suitable for rehabilitation training,or assisting patients to complete some functions of human hands to accomplish daily objects grasping.