[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-83307-en":3,"doc-seo-83307-105":28,"detail-sidebar-cat-0-en-105":90},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":11,"language":21,"language_code":22,"site_id":23,"html_lang":22,"table_of_contents":24,"faqs":25,"seo_title":13,"seo_description":14,"update_tm":26,"read_time":27},83307,1374391974585,"Genevieve","https://ap-avatar.wpscdn.com/davatar_276721f389ce27ea32af1340a28f341c",8,"Research & Report","Soft Robotic Exogloves for Dexterous Mobility—Towards Personalized Rehabilitation","Soft robotic exogloves enable hand rehabilitation and assistive motion, yet common glove fitting relies on standardized measurements that do not reflect individual anatomy, reducing effectiveness for fine finger articulation. This work presents a pneumatically actuated personalized soft exoglove, including design, fabrication, modeling, and testing. The glove is tailored using topological hand scans and silicone mold casting, followed by finite element analysis to study actuator bending and physical human–robot interaction contact forces. Pneumatic pressure control experiments evaluate static and dynamic finger flexion against reference motions.","Soft Robotic Exogloves for Dexterous Mobility - Towards Personalized  \nRehabilitation  \nPaul Dela Cruz, Student Member, IEEE, 1 , Mostafa Mo. Massoud, Student Member, IEEE, 1  \nand Jacqueline Libby2 , Member, IEEE  \narXiv :2607 .07968v 1 [ cs .RO] 8 Jul 2026  \nAbstract—Soft robotic exogloves can provide hand rehabilitation and assistance. Fitting these gloves often relies on standardized measurements not tailored to the individual, limiting their effectiveness, especially for fine articulation necessary for dexterous manipulation. We present the design, fabrication, modeling, and testing of a personalized pneumaticallyactuated soft robotic exoglove. The glove was fit to a user’shand with topological scans and fabricated with silicone mold casting. Finite element analysis (FEA) was performed to evaluate actuator bending and forces from physical humanrobot interaction (pHRI) between an actuator and a simplified personalized biomechanical finger model. Pneumatic pressure control experiments were conducted to flex the user’s finger with static and dynamic references. Fabrication results show that topological scans enable precise tailoring to hand anatomy. Simulations showed that anatomical personalization enables analysis of pHRI contact forces, and results indicate sufficient joint mobilization with non-ideal compression on the proximal phalanx. Pneumatic testing indicates that pressure control allows accurate and targeted mobility of the metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joints with intrinsic stiffness. Testing of multiple designs showed that relaxing the strain-limiting layer improves actuator-to-finger joint alignment during actuation. This work presents personalization to the human hand in structural conformability, joint topology, modeling of pHRI contact, and time-dependent actuation-deformation profiles. This lays a groundwork for informing exoglove design optimization to enable assistance in dexterous manipulation and neuromuscular rehabilitation of fine motor skills.  \nI. INTRODUCTION  \nRehabilitation robotics is an important tool for restoring motor function in individuals affected by neuromuscular diseases. Robotic systems can provide repeatable and taskoriented therapy, which can provide personalized therapy to improve functional recovery and motor learning [1] . Soft robotic technologies further support these goals due to their inherent compliance and improved safety which is more suitable for human-robot interaction [2], [3] .  \nUpper-limb rehabilitation presents challenges that differ from those of lower-limb systems. While lower-limb devices must address weight-bearing and dynamic stability, upperlimb rehabilitation must address precise joint coordination and fine motor control. Hand rehabilitation is particularly  \nThis work was supported by the US National Science Foundation under Grant 2502197 . (Corresponding author: Jacqueline Libby)  \n1Paul Dela Cruz and Mostafa Mo. Massoud are with the Department of Mechanical Engineering, Stevens Institute of Technology, 1 Castle Point Terrace, Hoboken, NJ, 07030, USA [pdelacr1@stevens.edu](pdelacr1@stevens.edu) , [mmassoud@stevens.edu](mmassoud@stevens.edu)  \n2Jacqueline Libby is with Faculty of Mechanical Engineering, Stevens Institute of Technology, 1 Castle Point Terrace, Hoboken, NJ, 07030, USA [jlibby@stevens.edu](jlibby@stevens.edu)  \nchallenging, as there are many degrees of freedom in the hand and maintaining proper joint alignment during functional tasks can be difficult. As a result, wearable robotic gloves are being introduced to assist finger motion in rehabilitation settings. Soft robotic gloves have been developed using a range of actuation strategies, including cabledriven and pneumatic systems. Cable-driven gloves mimic biological tendons to flex and extend the fingers [4]–[6] . They can be lightweight and assist in grasping tasks suitable for activities of daily living [7], [8] . However, cable-driven systems often require compl","cbCaigeiRx4UAzvm","https://ap.wps.com/l/cbCaigeiRx4UAzvm","pdf",3873551,1,"English","en",105,"# Abstract\n# Introduction\n## Rehabilitation robotics and personalization needs\n## Challenges in upper-limb and hand rehabilitation\n## Prior work on cable-driven and pneumatic gloves\n## Motivation for anatomy-personalized pneumatic exogloves","[{\"question\":\"Why does standardized sizing limit soft robotic exogloves for hand rehabilitation?\",\"answer\":\"Standardized measurements may not match individual hand anatomy, causing reduced effectiveness for fine articulation and potential misalignment between actuator bending locations and finger joints.\"},{\"question\":\"How is the personalized soft exoglove fabricated and fitted to a user?\",\"answer\":\"The glove design is tailored to the user’s hand using topological scans, then fabricated via silicone mold casting and assembled into a pneumatically actuated exoglove.\"},{\"question\":\"What methods are used to evaluate the exoglove’s performance?\",\"answer\":\"Finite element analysis models actuator bending and physical human–robot interaction contact forces, and pneumatic pressure control experiments test finger flexion using static and dynamic 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does standardized sizing limit soft robotic exogloves for hand rehabilitation?","Question",{"text":74,"@type":75},"Standardized measurements may not match individual hand anatomy, causing reduced effectiveness for fine articulation and potential misalignment between actuator bending locations and finger joints.","Answer",{"name":77,"@type":72,"acceptedAnswer":78},"How is the personalized soft exoglove fabricated and fitted to a user?",{"text":79,"@type":75},"The glove design is tailored to the user’s hand using topological scans, then fabricated via silicone mold casting and assembled into a pneumatically actuated exoglove.",{"name":81,"@type":72,"acceptedAnswer":82},"What methods are used to evaluate the exoglove’s performance?",{"text":83,"@type":75},"Finite element analysis models actuator bending and physical human–robot interaction contact forces, and pneumatic pressure control experiments test finger flexion using static and dynamic 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