In recent years,brain computer interface technology related to upper limb movement,which comprises discrete hand movements and continuous upper limb actions,has been extensively applied to rehabilitate basic living abilities in patients with motor functional impairments.This technology enables a direct connection between the brain and peripheral devices.This paper conducts an in-depth analysis of the development of upper limb fine motor-related brain computer interface technology from four aspects:neural responses,paradigm design,processing methods and typical applications.It also explores the current opportunities,challenges and future directions of this technology.