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Stroke patients need a finger rehabilitation training driver, among them, the pneumatic soft body drive is the most commonly used. However, the traditional pneumatic soft actuator has only one air cavity. When applying air pressure control, the pneumatic soft actuator can only perform the overall bending motion and cannot perform the sectional bending motion. In this way, in the finger rehabilitation training, due to the bending position and the finger joint dislocation, easy to hurt the finger. To better simulate finger joint movements in humans, this paper presents a segmented pneumatic cavity finger rehabilitation training driver. Referring to the joint structure of human fingers, the air cavity is reasonably divided into three independent parts, with each air cavity applying a different air pressure for control. Then the mathematical modeling was established, and finally, through the ABAQUS simulation analysis, the bending …