## 1 Introduction
The analysis identified a wide variety of soft wearable systems intended for hand rehabilitation or assistance. Most of these use air-pressurized fluidic actuators as actuation methods in a variety of configurations and features to meet the patient's needs for strength, range of motion, and comfort in the recovery process. Also, most devices focus on assisting finger flexion/extension movements and less on abduction/adduction ones. The main component of these soft wearable exoskeleton devices are soft actuators, and with the accelerated development of the field of soft robotics in the last decade, a multitude of types of fluidic actuators have been designed for various applications. However, with the development of the field, their complexity in terms of manufacturing, actuation, modeling, and control has been of spectacular growth. Based on these considerations, the present work focuses on the creation and validation of a wearable device that is easy to wear and use and foremost has low manufacturing costs. Generally, in the rehabilitation field, devices that provide sufficient biocompatibility and biomimeticity are predominantly used due to the provided comfort and lightweight. In terms of soft actuator systems, the most common types in the rehabilitation field are those based on fluid actuation, shape memory alloys, and dielectric elastomers [25]. Regarding the modalities of intention detection and sensors used in the control of the device, the majority of publications use control based on the capture of EMG muscle signals from the forearm muscle area, with this method being the most predominant in wearable devices. Another prevailing method is based on pressure and flex sensors [26]. The use of soft robotic systems in portable devices has the great advantage of offering patients the possibility of rehabilitation/assistance in the comfort of their own homes. Moreover, the use of fluid actuators made of elastomeric materials grants patients a safe interaction due to highly elastic soft materials and a large number of degrees of freedom, which implicitly provides the possibility of performing a wide range of movements, the low cost of producing such a device, and the corresponding high portability and manufacturing devices customized to the patient's anatomical data. Based on the aspects presented above, this work addresses the realization of a low-priced portable device intended for rehabilitation/assistance of hands at the patient's home for people who have suffered a stroke or other neurological diseases following which they are left with a range of mobility impairments. The wearable device is made with PneuNets fluid actuators that assist in the flexion and extension motion of the phalanges, specifically the DIP (distal interphalangeal) joint, PIP (proximal interphalangeal) joint, and MCP (metacarpophalangeal) joint at fingers2-5 and IP (interphalangeal) joint and MCP (metacarpophalangeal) joint at finger 1 (thumb finger) in Figure 1. The actuators are positioned on the dorsal side of the hands, being actuated from a single actuator source, and the control is based on EMG signal capture with a commercial module with surface electrodes positioned in the forearm muscle area. This gadget also includes a pressure sensor and a flex sensor to monitor the air supply pressure and identify the amplitude of phalangeal movement. Its weight is 180 g, putting it in the optimal range for such devices [27,28].