Dysfunction of hand after stroke can affect patients’ ability to perform daily activities and social ability. This paper developed a flexible hand function rehabilitation robot based on sensory input. First, we designed a flexible external finger muscle based on rope drive, then we designed a special two-way output linear actuator to drive fingers for rehabilitation training. At the same time, we performed vibration stimulation on each finger of the patient and low-frequency electrical stimulation on the patient’s wrist. Sensory stimulation mobilizes the active participation of the brain in rehabilitation training, thereby effectively promoting the rehabilitation effect of fine functions of fingers after stroke. We have completed the hardware design of the flexible hand robot and developed the control software of the flexible hand, thus completing the development of the hand function robot. Finally, experiments were carried out on the use of equipment by using EEG. Experiments show that when the flexible hand robot developed in this paper is used for training, it mobilizes the active participation of the brain in rehabilitation training.