## 1 Introduction
The authors proposed an analytical model that aims to quantify the output force of the actuators in the case of squeezing in relation to the relationship between the input pressure, the flexure angle, and the output force. All these analyses have been validated numerically and experimentally [18]. [PERSON] et al. proposed a wearable lower limb rehabilitation device based on 5 PneuNets fluid actuators that actively assist flexion and passively assist extension. The actuators are designed according to the anatomical characteristics of human fingers, with the actuators having three joint segments corresponding to the three finger joints (2-5), two for the thumb, and four rigid segments corresponding to the phalangeal and metacarpal bone segments, respectively. This approach allowed the actuator characteristics to be designed to have kinematics and a range of motion similar to those of human fingers, a feature achieved through numerical and experimental modeling [19]. The literature review also identified hybrid wearable glove actuation solutions using both pneumatic and cable actuation. In the article by [PERSON] et al., such a hybrid drive wearable exoskeleton device with variable stiffness for ADL activities is proposed. Furthermore, the glove is designed to assist both flexion/extension and abduction/adduction movements of the fingers. Their tests aimed to improve the grip of various objects by using an additional telescopic finger that is pneumatically actuated. According to the results presented by the collective, the robotic glove in the configuration presented has considerably improved patients' grip ability [20]. Computerized textile manufacturing technologies have been integrated into the creation of wearable actuators and devices to be incorporated into clothing. [PERSON] et al. proposed a pneumatic actuator produced entirely by computerized knitting without using adjacent cutting or sewing technologies. Different knitting configurations were analyzed, and a grip assist device was invented able to perform active flexion movement at a pressure of 150 kPa and grip objects weighing up to 125 g [21]. In the specialist literature, wearable devices intended for the rehabilitation of the thumb have also been identified. [PERSON] et al. have constructed a wearable device intended to rehabilitate the flexion movement of the thumb through active control. The device uses a pneumatically actuated fluidic actuator composed of elastomer and reinforced with fibers to increase force characteristics. The configuration of the reinforcement braid is different to be able to achieve the kinematics of the human thumb as faithfully as possible [22]. Another article focusing on the thumb is by [PERSON] et al., which proposes two different approaches and analyzes them comparatively on the realization of flexion/extension and abduction/adduction movements. The two variants are based on soft fluidic actuators, the first variant being one that uses two elastomeric and fiber-reinforced actuators for the thumb and index finger corresponding to the flexion and extension motion of the fingers and a fan-shaped fiber-reinforced soft fluidic actuator. Once it is pressurized, it makes an angular movement driving the thumb into an abduction/adduction movement. The second configuration uses a reinforced soft actuator that performs flexion/extension motion of the finger and a fiber-reinforced actuator with three internal cavities that can perform both flexion/extension and abduction/adduction motion. Results show that each variant conveys advantages in some aspects of rehabilitation and a combined configuration would lead to substantial improvement [23]. [PERSON] et al. proposed a control system for a rehabilitation/assist glove that is based on the capture of myoelectric signals (EMG) from the forearm muscles through surface electrodes. The glove is made of elastomeric material fluid actuators that assist in flexion and extension movements of the hand phalanges [24].